CN109144072A - A kind of intelligent robot barrier-avoiding method based on three-dimensional laser - Google Patents
A kind of intelligent robot barrier-avoiding method based on three-dimensional laser Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
Abstract
The invention proposes a kind of intelligent robot barrier-avoiding method based on three-dimensional laser, is related to robot field.The laser point cloud data in three-dimensional laser plane that the present invention passes through three-dimensional laser sensor emission is mapped as two-dimensional laser point cloud data, the corresponding feature laser point cloud data of barrier is extracted using European clustering method, the positions and dimensions information of barrier is calculated according to the feature laser point cloud data of extraction, the avoidance path of robot is finally cooked up using three bezier curve, to realize effective avoidance of robot.The barrier-avoiding method provided through the invention, robot can have the information for obtaining unknown barrier, improve the real-time and accuracy of robot obstacle-avoiding navigation.
Description
Technical field
The present invention relates to robot fields, more particularly, to the intelligent robot barrier-avoiding method based on three-dimensional laser.
Background technique
Avoidance refers to that mobile robot according to the status information of the barrier of acquisition, passes through sensor sense in the process of walking
When knowing the static state for interfering it to pass through and dynamic object, effectively avoidance is carried out according to certain method, finally reaches target point,
It is the basis that robot realizes independent navigation.The necessary condition for realizing avoidance and navigation is environment sensing, in unknown or portion
Avoidance under unknown environment is divided to need to obtain ambient condition information, size, shape and position including barrier by sensor
Etc. information, therefore sensor technology plays a very important role in Mobile Robot Obstacle Avoidance.The sensor master that avoidance uses
There are ultrasonic sensor, visual sensor, infrared sensor, laser sensor etc..Wherein laser sensor and other sensors
It compares, has many advantages, such as that ranging speed is fast, ranging range is remote, angular resolution is high, mirror-reflection is small, is not illuminated by the light influence.
Currently, generally carrying out environmental scanning using 2D laser radar, simultaneously in the motion process of electric inspection process robot
Barrier is detected, but this robot obstacle-avoiding mode has the following problems:
(1) 2D laser radar is the detection that barrier is carried out by the laser beam of single line, when barrier belongs to hollow body,
Or slightly below laser sensor mounting height when, can not detect barrier.
(2) 2D laser radar detection range is smaller, it is difficult to competent from low level to the identification of high-level barrier, environment
Adaptability is poor.
Summary of the invention
The purpose of the present invention: it in order to solve the problems, such as that 2D laser radar carries out environmental scanning avoidance, provides a kind of based on three
Tie up the intelligent robot barrier-avoiding method of laser.
Specifically, the technical solution adopted by the present invention, comprising the following steps:
1) area of space interested is established, the point other than this space is rejected, the screening of effective barrier point is completed, obtains three
Tie up laser point cloud data P；
2) three-dimensional laser point cloud data in step 1) is mapped as to the form of the two-dimensional matrix of image, obtains two-dimensional points cloud
Data P '；
3) by the two-dimentional poly- heap of point cloud data P ' in step 2)；
4) position and the size of barrier are determined；
5) avoidance path is planned.
Furthermore, the step 2) specifically: three-dimensional laser point cloud data P is projected into laser transmitter projects
On plane xOy (z=0) where horizontal laser light, two-dimentional point cloud data P ' is obtained.
Furthermore, the point in the P ' is p ' (x ', y '), then:
Wherein, S indicates the distance of a certain laser point p to origin O in three-dimensional space, and α, θ be the level side of the laser
To angle value and vertical direction angle value, p (x, y, z) is three-dimensional coordinate of the p point in laser coordinate system.
Furthermore, the step 3) specifically:
1. establishing the topological relation in two-dimentional point cloud data P ' between points using KD tree neighbor point searching algorithm, realize
The fast search of neighbor point；
2. establishing an empty cluster set C and queue Q, appoint the point p ' taken in point cloud data P 'iQueue is added
Q, so that p 'i∈Q；
3. the collection of detection range p ' the i nearest point on K-D tree, the point composition searched is combined intoTen calculate p 'iWith point setThe Euclidean distance d of middle each pointi, point of the distance less than threshold value r is added in queue Q；
Wherein, p 'iIndicate i-th point in point cloud data,Indicate distance p 'iNearest point set, m indicate that point is concentratedNumber, 1≤i≤m；
4. selection removes p ' in QiExcept a point p 'j, repeat step 3.；
5. selection removes p ' in QiAnd p 'jExcept any point p 'k, repeat step 3.；
6. the point set in Q is added in the list of set C, and Q is arranged when 3. all the points in Q have been performed both by step
Table empties.
Furthermore, the step 4) specifically:
1. calculating the position center of gravity centrl of point set C；
2. point set C is extracted, so that the distance of any point c in C to point cloud center of gravity centrl are less than or equal to threshold
Value r；
3. traverse laser point in point set C subtracts each other maxima and minima, acquires barrier in the data value of x-axis direction
Length L；Traverse laser point in point set C subtracts each other maxima and minima, acquires barrier in the data value in y-axis direction
Length W.
Furthermore, the center of gravity centrl position coordinates of the point set C areWherein:
S is the serial number of the current point in point set C, and n is the sum at the midpoint point set C, 1≤s≤n；(xs, ys) be s point two dimension
Point cloud data coordinate；The range of the threshold value r is 2cm~10cm.
Furthermore, the step 5) specifically:
1. the coordinate position for choosing robot in global coordinate system is control point 1；
It is radius R (as L > using current distance D 2. calculating the distance between control point 1 and the center of gravity centrl of point set C D
W, R > L, as L < W, R > W), respectively using the center of gravity centrl of the position of robot and point set C as the center of circle, two intersection circles are done,
Any intersection point is set as control point 2 in two intersection points；
Control point 3 is taken on the circle using the center of gravity centrl of point set C as the center of circle, so that between control point 2 and control point 3
Distance is D；
Control point 4 is taken on the circle using the center of gravity centrl of point set C as the center of circle, so that control point 4 and control point 1 are closed
It is symmetrical in the center of gravity centrl of point set C；
3. control point 1,2,3,4 is brought into three bezier curve equation and obtains avoidance path.
Furthermore, the control point 1 is p '1(x’1, y '1), control point 2 is p '2(x’2, y '2), control point 3 is p '3
(x’3, y '3), control point 4 is p '4(x’4, y '4), by geometric properties:
Wherein, β is the angle between control point 1 and the line and x-axis of the center of gravity centrl of point set C；
The three bezier curve equation is specific as follows:
B (t)=p '1(1-t)3+3p’2t(1-t)2+3p’3t2(1-t)+p’4t3, t ∈ [0,1].
Furthermore, the threshold value r=5cm.
Furthermore, the t is increased by 0 to 1, by setting accumulated variables Δ t, makes t=t+ Δ t, wherein 0.02≤
Δt≤0.025。
Compared with prior art, the present invention its remarkable advantage are as follows: the present invention passes through the three-dimensional of three-dimensional laser sensor emission
Laser point cloud data in laser plane is mapped as two-dimensional laser point cloud data, extracts barrier pair using European clustering method
The feature laser point cloud data answered calculates the positions and dimensions information of barrier according to the feature laser point cloud data of extraction, most
The avoidance path of robot is cooked up using three bezier curve afterwards, to realize effective avoidance of robot.By this hair
The barrier-avoiding method of bright offer, robot can have the information for obtaining unknown barrier, improve the real-time of robot obstacle-avoiding navigation
Property and accuracy.
Detailed description of the invention
Fig. 1 is the intelligent robot barrier-avoiding method process based on three-dimensional laser.
Fig. 2 is that three-dimensional laser point cloud data maps schematic diagram.
Fig. 3 is the poly- heap flow chart of two-dimentional point cloud data.
Fig. 4 is Drawing Cubic Bezier Curve flow chart.
Fig. 5 is robot obstacle-avoiding schematic diagram.
Specific embodiment
Below with reference to embodiment and referring to attached drawing, present invention is further described in detail.
Embodiment 1:
The present embodiment describes a kind of intelligent robot barrier-avoiding method based on three-dimensional laser, specific steps such as Fig. 1 institute
Show:
1, detection of obstacles
(1) the effectively screening of barrier point: area of space interested is established, the point other than this space is rejected.With robot
Laser sensor where position be origin, selections z-axis direction scope be 0.5~2m, x-axis direction range be 0~25m, y-axis
Direction scope is -10~10m.The barrier point not in area-of-interest such as branch, ground is rejected, the big of barrier is only remained
Profile is caused, the detection efficiency of barrier is improved.
(2) three-dimensional laser point cloud maps: three-dimensional laser point cloud data is mapped as to the form of the two-dimensional matrix of image.It will swash
It is xoy plane in laser coordinate system, as shown in Figure 2 in plane where luminous point cloud data projection to horizontal laser light.Use S
Indicate that α, θ are the horizontal direction angle value of the laser to indicate a certain laser point p in three-dimensional space to the distance to origin O
With vertical direction angle value, it is mapped to after plane z=0 as p ' (x ', y '), wherein p (x, y, z) is p point in laser coordinate system
Three-dimensional coordinate:
(3) the poly- heap of two-dimentional point cloud data:
It is described in detail in conjunction with poly- heap process of the Fig. 3 to point cloud data:
1. establishing the topological relation in two-dimentional point cloud data between points using KD tree neighbor point searching algorithm, realize adjacent
The fast search of near point；KD tree is a kind of search index structure, is widely used in database index.
2. establishing an empty cluster set C and queue Q, appoint the little by little p ' taken in point cloud dataiQueue is added
Q, so that p 'i∈Q；
3. the detection range p ' on KD treeiThe collection of nearest point, the point composition searched is combined intoCalculate p 'iWith point setThe Euclidean distance d of middle each pointi, point of the distance less than threshold value r is added in queue Q.
4. selection removes p ' in QiExcept a point p 'j, repeat step 3.；
5. selection removes p ' in QiAnd p 'jExcept any point p 'k, repeat step 3.；
6. the point set in Q is added in the list of set C, and Q is arranged when 3. all the points in Q have been performed both by step
Table empties, and the point set in C is a kind of point set with high similarity, i.e., the laser point that the reflection point of a certain barrier is formed
Cloud；
(4) determination of Obstacle Position and size
1. calculating the center of gravity centrl position coordinates of point set CFormula is as follows:
Wherein, s is the serial number of the current point in point set C, (xs, ys) be s point two-dimensional points cloud data coordinates, n be point set C
The sum at midpoint；
2. extracting effective laser point cloud data: obtained point set C is extracted so that any point c in C to point a cloud
The distance of center of gravity centrl is less than or equal to threshold value r, it may be assumed that c ∈ C, | | c-centrl | |≤r, wherein centrl is the weight of point set C
The heart, 2cm≤r≤10cm；R takes 5cm based on practical experience.
3. traverse laser point in point set C subtracts each other maxima and minima, acquires barrier in the data value of x-axis direction
Length L；Traverse laser point in point set C subtracts each other maxima and minima, acquires barrier in the data value of Y direction
Width W.
2, obstacle-avoiding route planning
After the positions and dimensions of barrier determine, three bezier curve planning robot's avoiding barrier is utilized
Path is described in detail in conjunction with Fig. 4:
1. three bezier curve equation
Three bezier curve equation is by four control point point p ' planar1, p '2, p '3, p '4It is defined, equation
It is as follows:
B (t)=p '1(1-t)3+3p’2t(1-t)2+3p’3t2(1-t)+p’4t3, t ∈ [0,1]
2. the selection at control point
To use three rank Bezier curve avoiding barriers, needs to calculate 4 control points, use p ' respectively1(x’1, y '1),
p’2(x’2, y '2), p '3(x’3, y '2), p '4(x’4, y '4) four points indicate control point, p ' calculated using phase method of intersecting circles2(x’2,
y’2), p '3(x’3, y '3), p '4(x’4, y '4), as shown in Figure 4.
Calculating robot position p '1(x’1, y '1) with the center of gravity of point set CThe distance between D, be with current distance D
Radius R (as L > W, R > L, as L < W, R > W), respectively with the position of robot and center of gravityFor the center of circle, two phases are done
Hand over circle.
Assuming that the coordinate position of robot is p '1(x’1, y '1), then p ' can be obtained by trigonometric function method2(x’2, y '2)
Pass through geometric properties, it is known that p '3、p’4Coordinate it is as follows:
Wherein, β is robot location p '1(x’1, y '1) and barrier center of gravityLine and x-axis between angle,
When -90 ° 45 ° of < β <, cooking up Bezier curve is that the curve 1 in Fig. 5 is cooked up when 45 ° of β >
Bezier curve is the curve 2 in Fig. 5.
3. the value of parameter t
In three bezier curve equation, the value range of t is 0~1.Needing to control the parameter in practice has 0 to 1 increasing
Add.By the way that accumulated variables Δ t is arranged, make t=t+ Δ t, wherein the value range for having Δ t known to experience be 0.02~0.025 compared with
It is suitable.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. the intelligent robot barrier-avoiding method based on three-dimensional laser, which comprises the following steps:
1) area of space interested is established, the point other than this space is rejected, the screening of effective barrier point is completed, is obtained three-dimensional sharp
Light point cloud data P；
2) three-dimensional laser point cloud data in step 1) is mapped as to the form of the two-dimensional matrix of image, obtains two-dimentional point cloud data
P'；
3) by the two-dimentional poly- heap of point cloud data P ' in step 2)；
4) position and the size of barrier are determined；
5) avoidance path is planned.
2. the intelligent robot barrier-avoiding method according to claim 1 based on three-dimensional laser, which is characterized in that the step
2) specifically: three-dimensional laser point cloud data P is projected to the plane xOy (z=0) where the horizontal laser light of laser transmitter projects
On, obtain two-dimentional point cloud data P '.
3. the intelligent robot barrier-avoiding method according to claim 2 based on three-dimensional laser, which is characterized in that in the P '
Point be p ' (x ', y '), then:
Wherein, S indicates the distance of a certain laser point p to origin O in three-dimensional space, and α, θ be the horizontal direction angle of the laser
Angle value and vertical direction angle value, p (x, y, z) are three-dimensional coordinate of the p point in laser coordinate system.
4. the intelligent robot barrier-avoiding method according to claim 1 based on three-dimensional laser, which is characterized in that the step
3) specifically:
1. two-dimentional point cloud data P is established using KD tree neighbor point searching algorithm, in topological relation between points, realization is neighbouring
The fast search of point；
2. establishing an empty cluster set C and queue Q, appoint the point p ' taken in point cloud data P 'iQueue Q is added, so that
p′i∈Q；
3. the detection range p ' on K-D treeiThe collection of nearest point, the point composition searched is combined intoCalculate p 'iWith point setIn
The Euclidean distance d of each pointi, point of the distance less than threshold value r is added in queue Q；
Wherein, p 'iIndicate i-th point in point cloud data,Indicate distance p 'iNearest point set, m indicate that point is concentrated's
Number, 1≤i≤m；
4. selection removes p ' in QiExcept a point p 'j, repeat step 3.；
5. selection removes p ' in QiWith p 'jExcept any point p 'k, repeat step 3.；
6. the point set in Q is added in the list of set C when 3. all the points in Q have been performed both by step, and Q list is clear
It is empty.
5. the intelligent robot barrier-avoiding method according to claim 4 based on three-dimensional laser, which is characterized in that the step
4) specifically:
1. calculating the position center of gravity centrl of point set C；
2. point set C is extracted, so that the distance of any point c in C to point cloud center of gravity centrl are less than or equal to threshold value r；
3. traverse laser point in point set C subtracts each other maxima and minima, acquires the length of barrier in the data value of x-axis direction
Spend L；Traverse laser point in point set C subtracts each other maxima and minima, acquires the length of barrier in the data value in y-axis direction
W。
6. the intelligent robot barrier-avoiding method according to claim 5 based on three-dimensional laser, which is characterized in that
The center of gravity centrl position coordinates of the point set C areWherein:
S is the serial number of the current point in point set C, and n is the sum at the midpoint point set C, 1≤s≤n；(xs, ys) be s point two-dimensional points cloud
Data coordinates；The range of the threshold value r is 2cm~10cm.
7. the intelligent robot barrier-avoiding method according to claim 5 based on three-dimensional laser, which is characterized in that the step
5) specifically:
1. the coordinate position for choosing robot in global coordinate system is control point 1；
It is radius R (as L > W, R > using current distance D 2. calculating the distance between control point 1 and the center of gravity centrl of point set C D
L, as L < W, R > W), respectively using the center of gravity centrl of the position of robot and point set C as the center of circle, two intersection circles are done, two hand over
Any intersection point is set as control point 2 in point；
Control point 3 is taken on the circle using the center of gravity centrl of point set C as the center of circle, so that distance between control point 2 and control point 3
For D；
Control point 4 is taken on the circle using the center of gravity centrl of point set C as the center of circle, so that control point 4 and control point 1 are about point
The center of gravity centrl for collecting C is symmetrical；
3. control point 1,2,3,4 is brought into three bezier curve equation and obtains avoidance path.
8. the intelligent robot barrier-avoiding method according to claim 7 based on three-dimensional laser, which is characterized in that
The control point 1 is p '1(x′1, y '1), control point 2 is p '2(x′2, y '2), control point 3 is p '3(x′3, y '3), control point
4 be p '4(x′4, y '4), by geometric properties:
Wherein, β is the angle between control point 1 and the line and x-axis of the center of gravity centrl of point set C；
The three bezier curve equation is specific as follows:
B (t)=p '1(1-t)3+3p′2t(1-t)2+3p′3t2(1-t)+p′4t3, t ∈ [0,1].
9. the intelligent robot barrier-avoiding method according to claim 6 based on three-dimensional laser, which is characterized in that the threshold value
R=5cm.
10. the intelligent robot barrier-avoiding method according to claim 8 based on three-dimensional laser, which is characterized in that the t by
0 to 1 increases, and by the way that accumulated variables Δ t is arranged, makes t=t+ Δ t, wherein 0.02≤Δ t≤0.025.
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