CN109282823A - The update method of hexagonal mesh map - Google Patents
The update method of hexagonal mesh map Download PDFInfo
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- CN109282823A CN109282823A CN201811105589.6A CN201811105589A CN109282823A CN 109282823 A CN109282823 A CN 109282823A CN 201811105589 A CN201811105589 A CN 201811105589A CN 109282823 A CN109282823 A CN 109282823A
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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Abstract
The present invention discloses a kind of update method of hexagonal mesh map, when updating hexagonal mesh map, first determine rectangular mesh belonging to sensor measurement point, then measurement point is projected to the rectangular mesh, the distance between the central point for three hexagonal meshes that measurement point is included with the rectangular mesh is found out again, wherein that shortest hexagonal mesh of square measurement point centre distance is exactly hexagonal mesh belonging to measurement point, according to assigning different attributes in hexagonal mesh the case where measurement point for hexagonal mesh, the real-time update to hexagonal mesh map is realized with this.
Description
Technical field
The invention belongs to robot map structuring field more particularly to a kind of update methods of hexagonal mesh map.
Background technique
Robot map structuring is the process that robot passes through that distance measuring sensor models ambient enviroment, constructed map
It is the abstract representation to robot information.Since robot is typically located in the environment of real-time change, how to pass through
The sensor being mounted in robot obtains the change information of environment and is showed in real time on the map constructed, is evaluation
Can map constructed by robot accurately indicate an important indicator of the environmental information around robot.Therefore, to machine
It is the important research contents in one, robot map structuring field that the map of device people building, which real-time and accurately update,.
Document (Marder-Eppstein E, Berger E, Foote T, et al. The Office
Marathon: Robust Navigation in an Indoor Office Environment[C]. In Proceeding
of the IEEE International Conference on Robotics and Automation (ICRA),
2010.) environment is described using conventional grid map common in robot map structuring technology, map rejuvenation is by along map
The direction x, y traverse grid, by distance measuring sensor obtain environmental data project to corresponding grid after, according to raster data point
Analysis is that grid sets different attribute to realize.Since the grid in map is the equidistant sequence in the direction x, y according to grating map
Arrangement, it is horizontal that the grid of every a line is all based on same, so that grating map only needs to press when updating
According to x, y coordinate system, equidistantly successively traversal can obtain the center point coordinate and corresponding index of each grid, have and update
It is high-efficient, obtain the convenient feature of grid index.But in conventional grid map, a grid and eight neighborhoods around it
There are unequal situations for the distance between grid, and so as to cause robot, when carrying out path planning based on grid, grid is selected
Become complicated；In addition, distance measuring sensor obtain environmental data be all it is rounded centered on sensor extend to the outside, traditional grid
The distribution form of lattice map and sensing data distribution form are inconsistent.
Document (Chen T, Wang R, Dai B, et al. Likelihood-Field-Model-Based
Dynamic Vehicle Detection and Tracking for Self-Driving[J].IEEE Transactions
On Intelligent Transportation Systems, 2016,17 (11): 3142-3158.) use laser radar
As distance measuring sensor, polar coordinates grating map is constructed according to the physical model of laser radar.With robot when map rejuvenation
Position is that polar origin establishes polar coordinate system, according to the angular resolution of laser radarPolar coordinates grid map partitioning
For M block fan-shaped region, each fan-shaped region has been partitioned into the different grid of quantity according to fan-shaped radial direction.It is passed by ranging
The point distance measurement that sensor obtains first calculates the fan-shaped region belonging to it, according to the distance of this point to robot location this point
It projects in this fan-shaped grid cell corresponding in the radial direction and goes.Due to polar grating map and laser radar
Physical model it is similar, therefore the map constructed in this way can be than more completely representing the ring obtained by a frame laser radar
Border information.But in robot kinematics, the grating map grid index constructed under polar coordinate system is difficult, no image of Buddha tradition grid
Lattice map is equally directly updated by the index to map of grid, needs to repeat the building process of polar coordinates grating map
The update of achievable map, renewal process is complicated, run robot can not in dynamic scene safely and efficiently.
The application for a patent for invention that Chinese Patent Application No. is 201810034443.0, discloses a kind of " multi-level hexagon
The construction method of grid map ".This method uses the basis knot that by a hexagon and six neighborhood hexagons are constituted around it
The building of structure progress map.Map extension is realized by the layer-by-layer expansion to the host node in foundation structure first, then by every
The expansion of a peritropous six neighborhoods node of host node is to realize closed covering of the map to environment.In hexagonal mesh map
In, the central point of six neighborhood grid nodes of each grid node is distributed on same circle, this and Robot Ultrasonic Range Finder sense
Know that the rounded distribution of range is consistent.Further, since the centre distance phase at the center of hexagonal mesh node and its neighborhood node
Deng so that robot becomes simple based on the selection that the map carries out path planning.Meanwhile the path planned has preferably
Smooth effect.Due in order to realize hexagonal mesh map to the airtightness of overlay area, constructed hexagonal mesh map
When arranging in the x-direction, hexagonal mesh with a line is not all on same horizontal line, but a kind of dislocation
Relationship.Therefore map rejuvenation can not be carried out by the way of equidistantly traversing grid along x, y-coordinate axis.
Summary of the invention
The present invention is to provide a kind of hexagonal mesh map to solve above-mentioned technical problem present in the prior art
Update method.
The technical solution of the invention is as follows: a kind of update method of hexagonal mesh map, it is characterised in that successively press
It is carried out according to following steps:
A. rectangular area is constructed
A.1 the building coordinate system rectangular area Chong Die with hexagonal mesh map coordinates system, the width of the hexagonal mesh map
Forw, it is a height ofh, the side length of hexagonal mesh isL, then the width of rectangular areaRectwAnd heightRecthIt is calculated by formula (1),
(1)
A.2 rectangular area is divided into multiple highRhAnd widthRwRectangular mesh, the heightRhAnd widthRwIt is calculated by formula (2),
(2)
B. map rejuvenation
B.1 according to distance measuring sensor measurement point coordinateCek(Cekx, Ceky), determine that distance measuring sensor measures using formula (3)
Point the origin of rectangular area between offset (Cx,Cy), the offset (Cx,Cy) rectangular mesh is sat i.e. in rectangular area
Mark,
(3)
Floor () is downward bracket function in formula；
B.2 the center point coordinate of three included hexagonal meshes is obtained by rectangular mesh:
WhenCxWhen for even number, the center point coordinate of three hexagonal meshesSuccessively according to formula
(4), (5), (6) are calculated,
(4)
(5)
(6)
WhenCxWhen for odd number, the center point coordinate of three hexagonal meshesSuccessively according to public affairs
Formula (7), (8), (9) are calculated,
(7)
(8)
(9)
B.3 the distance between center point coordinate and the distance measuring sensor measurement point coordinate of three hexagonal meshes are calculated separately, really
The smallest hexagonal mesh of set a distance is hexagonal mesh belonging to distance measuring sensor measurement point；
B.4 by analyze to the data in the hexagonal mesh and carrying out attribute assignment for the hexagonal mesh.
The present invention first determines rectangular mesh belonging to sensor measurement point when updating hexagonal mesh map, then will
Measurement point is projected to the rectangular mesh, then finds out the central point for three hexagonal meshes that measurement point is included with the rectangular mesh
The distance between, wherein that shortest hexagonal mesh of square measurement point centre distance is exactly hexagon net belonging to measurement point
Lattice are realized with this to hexagon net according to different attributes is assigned in hexagonal mesh the case where measurement point for hexagonal mesh
The real-time update of lattice map.
Detailed description of the invention
Fig. 1 is building hexagonal mesh map of the embodiment of the present invention and rectangular area, rectangular mesh schematic diagram.
Fig. 2 is renewal process schematic diagram of the embodiment of the present invention.
Fig. 3 is the result schematic diagram after being updated under a certain scene of the embodiment of the present invention to hexagonal mesh map.
Specific embodiment
The present invention is that multi-level hexagonal mesh map in real time is realized using 16 line three-dimensional lasers and the computer of carrying
Building and update.Environment sensing sensor of the 16 line three-dimensional lasers as robot in experiment, real-time perception ambient condition information,
And obtained data are passed to computer, computer handles data in real time, realizes multi-level hexagonal mesh map
Building and data update.
The building of hexagonal mesh map is " one kind disclosed in 201810034443.0 according to Chinese Patent Application No.
The construction method of multi-level hexagonal mesh map " carries out.
The update of hexagonal mesh map successively carries out in accordance with the following steps:
A. rectangular area is constructed
A.1 the coordinate system rectangular area Chong Die with hexagonal mesh map coordinates system, constructed hexagonal mesh map are constructed
As shown in Figure 1, widew=7m, heighth=6.928m, the side length of hexagonal meshL=0.5m, the then width of rectangular areaRectwAnd heightRecthIt is calculated by formula (1),
(1)
As a result Rectw is 7.5m, and high Recth is 6.928 m；
A.2 rectangular area is evenly divided into multiple highRhAnd widthRwRectangular mesh, the heightRhAnd widthRwBased on formula (2)
It calculates,
(2)
As a result high Rh is 0.8660m, and wide Rw is 0.75m；
B. map rejuvenation
B.1 according to distance measuring sensor measurement point coordinateCek(Cekx, Ceky), determine that distance measuring sensor measures using formula (3)
Point the origin O of rectangular area between offset (Cx,Cy), the offset (Cx,Cy) rectangular mesh i.e. in rectangular area
Coordinate,
(3)
Floor () is downward bracket function in formula；
The distance measuring sensor measurement point coordinate of the embodiment of the present invention is (0.9,0.7), by calculatingCx=1,Cy=0, then offset
(1,0), i.e., rectangle mesh coordinate in rectangular area.As shown in Fig. 2, each rectangular mesh not repeatedly contain number be 1,2,
3, three hexagonal meshes in 4,5,6,7,8,9 ..., the grey rectangle of three hexagonal meshes for including (number 2,3,8)
Stain in grid is distance measuring sensor measurement point；
B.2 the center point coordinate of three included hexagonal meshes is obtained by rectangular mesh:
CauseCx=1 is odd number, as shown in Fig. 2, the center point coordinate for three hexagonal meshes (number 2,3,8) for being includedSuccessively it is calculated according to formula (7), (8), (9),
(7)
(8)
(9)
As a result the hexagonal mesh coordinate of number 2,3,8 is respectively (0.75,0.433), (1.5,0), (1.5,0.866)；
B.3 calculate separately the distance between center point coordinate and distance measuring sensor measurement point coordinate of three hexagonal meshes it
Afterwards, determine that apart from the smallest hexagonal mesh be No. 2, i.e. No. 2 hexagonal meshes belonging to measurement point；
B.4 by analyze to the data in No. 2 hexagonal meshes and carrying out attribute assignment for the hexagonal mesh, thus real
Now to the update of hexagonal mesh map.
Fig. 3 be the embodiment of the present invention under a certain scene according to laser sensor real time data to hexagonal mesh map into
The updated result schematic diagram of row.White point is original laser point in Fig. 3, and gray area is the hexagonal mesh map of building,
It is feasible attribute that grey, which represents the hexagonal mesh in map, and the hexagonal mesh of Dark grey indicates there is barrier properties
Hexagonal mesh.The update method for illustrating that the present invention is mentioned can effectively update hexagon net according to the laser data obtained in real time
It is convenient, high-efficient to have the characteristics that index obtains for lattice map.
Claims (1)
1. a kind of update method of hexagonal mesh map, it is characterised in that successively carry out in accordance with the following steps:
A. rectangular area is constructed
A.1 the building coordinate system rectangular area Chong Die with hexagonal mesh map coordinates system, the width of the hexagonal mesh map
Forw, it is a height ofh, the side length of hexagonal mesh isL, then the width of rectangular areaRectwAnd heightRecthIt is calculated by formula (1),
(1)
A.2 rectangular area is divided into multiple highRhAnd widthRwRectangular mesh, the heightRhAnd widthRwIt is calculated by formula (2),
(2)
B. map rejuvenation
B.1 according to distance measuring sensor measurement point coordinateCek(Cekx, Ceky), determine that distance measuring sensor measures using formula (3)
Point the origin of rectangular area between offset (Cx,Cy), the offset (Cx,Cy) rectangular mesh is sat i.e. in rectangular area
Mark,
(3)
Floor () is downward bracket function in formula；
B.2 the center point coordinate of three included hexagonal meshes is obtained by rectangular mesh:
WhenCxWhen for even number, the center point coordinate of three hexagonal meshesSuccessively
It is calculated according to formula (4), (5), (6),
(4)
(5)
(6)
WhenCxWhen for odd number, the center point coordinate of three hexagonal meshesSuccessively
It is calculated according to formula (7), (8), (9),
(7)
(8)
(9)
B.3 the distance between center point coordinate and the distance measuring sensor measurement point coordinate of three hexagonal meshes are calculated separately, really
The smallest hexagonal mesh of set a distance is hexagonal mesh belonging to distance measuring sensor measurement point；
B.4 by analyze to the data in the hexagonal mesh and carrying out attribute assignment for the hexagonal mesh.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110188157A (en) * | 2019-06-05 | 2019-08-30 | 北京百度网讯科技有限公司 | Warehouse-out method, device, equipment and the storage medium of high-precision map datum |
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| CN108387240A (en) * | 2018-01-15 | 2018-08-10 | 大连理工大学 | A kind of construction method of multi-level hexagonal mesh map |
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Patent Citations (7)
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|---|---|---|---|---|
| US20070005550A1 (en) * | 2005-06-24 | 2007-01-04 | Alexander Klein | Finding a hexagonal cell containing an X, Y position |
| CN105045976A (en) * | 2015-07-01 | 2015-11-11 | 中国人民解放军信息工程大学 | Method for modeling terrain property of Wargame map by grid matrix |
| CN106384333A (en) * | 2016-09-20 | 2017-02-08 | 河南工业大学 | Method for converting image from rectangular grid to hexagonal grid |
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| CN107820257A (en) * | 2017-11-17 | 2018-03-20 | 太原科技大学 | Improvement Uneven Cluster algorithm based on regular hexagonal cell division |
| CN108009281A (en) * | 2017-12-21 | 2018-05-08 | 重庆玖舆博泓科技有限公司 | Rendering intent, device and computer-readable recording medium based on rectangle grid |
| CN108387240A (en) * | 2018-01-15 | 2018-08-10 | 大连理工大学 | A kind of construction method of multi-level hexagonal mesh map |
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Application publication date: 20190129 |