CN109557919A - A kind of grating map construction method that broadens merging artificial landmark information - Google Patents

A kind of grating map construction method that broadens merging artificial landmark information Download PDF

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CN109557919A
CN109557919A CN201811545660.2A CN201811545660A CN109557919A CN 109557919 A CN109557919 A CN 109557919A CN 201811545660 A CN201811545660 A CN 201811545660A CN 109557919 A CN109557919 A CN 109557919A
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temp
grid
area
boundary line
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CN109557919B (en
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肖海宁
张炯
楼佩煌
武星
钱晓明
曾勇
石陈陈
王龙军
郑竹安
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Wuxi Tianyuanyi Technology Co ltd
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Yangcheng Institute of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本发明提出一种融合人工路标信息的可变宽栅格地图构建方法，该方法在构建栅格地图的过程中根据机器人环境调整栅格宽度，通过调节栅距最大限度地避开障碍，提高栅点的连续性；另一方面，本发明在构建好的栅格地图的栅格点处设置人工路标，人工路标内存储有坐标、方位以及自身与相邻栅格之间的间距，便于机器人适时获取自身位姿信息、显著提高移动机器人导航的稳定性和可靠性。

The invention provides a method for constructing a variable-width grid map integrating artificial road sign information. The method adjusts the grid width according to the robot environment in the process of constructing the grid map, avoids obstacles to the greatest extent by adjusting the grid pitch, and improves the grid efficiency. On the other hand, the present invention sets up artificial road signs at the grid points of the constructed grid map, and the artificial road signs store the coordinates, orientation and the distance between itself and the adjacent grid, which is convenient for the robot to timely Obtain self-pose information and significantly improve the stability and reliability of mobile robot navigation.

Description

A kind of grating map construction method that broadens merging artificial landmark information
Technical field
The present invention relates to mobile robot fields, and in particular to one kind is applied to mobile robot (including homing guidance AGV Trolley) fusion artificial landmark information the grating map construction method that broadens, during constructing the map by introduce people Work mark information is not only convenient for the stability that robot obtains itself posture information in due course, significantly improves Mobile Robotics Navigation And reliability, and raster width can be adjusted according to robot environment, the flexibility of map structuring is on the one hand significantly improved, separately On the one hand, when there are when obstacle, constructed map can substantially reduce robot in path planning or exploration in environment Number of turns, to improve the smoothness and operational efficiency of robot motion.
Background technique
Grating map marking environment is widely used in mobile robot, and conventional grid map hinders using cell as differentiation merely The minimum unit for hindering object area and non-barrier region causes robot that must merge multiple sensors information ability in navigation Know itself posture information, algorithm complexity is high, does not only result in that single machine is expensive, also reduces the stability of navigation and reliable Property.A kind of grating map creating method of intelligent robot as disclosed in patent CN103472823A, when using Raster, Raster width must be fixed, and flexibility is poor when not only building figure, and when in environment there are when obstacle, grid in constructed map Lattice point is easily occupied by obstacle, has interrupted the continuity of grid point, causes robot number of turns in path planning or exploration excessive, Movement is time-consuming, reduces operational efficiency.
Summary of the invention
Goal of the invention: in order to solve the above technical problems, grid point during building figure is avoided to be occupied by obstacle, the present invention is mentioned A kind of grating map construction method that broadens merging artificial landmark information out.This method energy during constructing grating map It is enough to avoid obstacle to the maximum extent, improve the continuity of grid point.
Technical solution: to realize the above-mentioned technical purpose, technical solution proposed by the present invention are as follows:
A kind of grating map construction method that broadens merging artificial landmark information, comprising steps of
(1) mobile work robot region, the environmental information in collecting work region, including work environmental modeling: are obtained The position of barrier, shape, size in region；According to collected data, draws and move in XOY plane coordinate system first quartile Mobile robot working region boundary line and barrier shape border line；
(2) mobile robot is puffed to the circle that a diameter in XOY plane coordinate system is D；By working region boundary Line extruding into working region, extruding is having a size of P；The outside extruding of barrier shape border line is obtained into barrier zone, extruding ruler Very little is P；P≥D/2；The region that working region boundary line after extruding is surrounded is as scanning area；
(3) minimum gate of adjacent gate point is set away from for dmin, maximum spacing is dmax, with minimum gate away from dminWith maximum spacing dmaxScanning area is scanned respectively along X-axis and Y direction for constraint condition, obtains grating map；The step of scanning, wraps It includes:
(3-1) defines XiThe position of gridline, X before being taken in for scanning directionLowerAnd XUPPERScanning area is respectively indicated to exist Boundary line on scanning direction, XLower< XUPPER；When initialization: i=1, j=1, Xi=XLower；
(3-2) is in Xi+dminAnd Xi+dmaxBetween carry out n times scanning, N is positive integer greater than 0, and therefrom finds out optimal location As the position of next gridline, comprising steps of
1. setting scan line is XTemp, successively calculate:
XTemp=Xi+dmin,
I=i+1,
Xi=XTemp,
Pro=| XTemp|/||XTemp| |,
Offset=(dmax-dmin)/N；
2. calculating:
XTemp=XTemp+offset
Judge whether to meet: | XTemp|/||XTemp| | < Pro；
If meeting | XTemp|/||XTemp| | < Pro is then calculated:
Xi=XTemp
Pro=| XTemp|/||XTemp||
It is transferred to step (3-3)；
If being unsatisfactory for | XTemp|/||XTemp| | < Pro then calculates j=j+1, judges whether to meet j≤N, if satisfied, then returning It returns step 2., otherwise, calculates Xi=XTemp, it is transferred to step (3-3)；
Wherein, | XTemp| it is scan line XTempOverall length in barrier zone, | | XTemp| | it is scan line XTempPositioned at sweeping Retouch the overall length in region；
(3-3) judges whether to meet Xi+dmin> XUPPER, if satisfied, then end step (3), are transferred to step (4), if discontented Foot, then return step (3-2)；
(4) artificial landmark is set on the grid point of grating map, own coordinate, orientation are stored in the artificial landmark And itself spacing between adjacent cells, and the data of artificial landmark storage can be read by mobile robot.
Further, the artificial landmark is RFID label tag or two-dimension code label.
The utility model has the advantages that compared with prior art, present invention has the advantage that
1, the grating map pitch that the present invention constructs is adjustable, can avoid hindering to the maximum extent by adjusting pitch when building figure Hinder, improve the continuity of grid point, guarantees that constructed map can substantially reduce robot and turn in path planning or exploration Curved number, to improve the smoothness and operational efficiency of robot motion；
2, artificial landmark, settable mark grid point coordinate, orientation, adjacent gate in road sign is arranged in the present invention at grid point Compartment away from etc. data, robot easy to remove road sign is obtained using corresponding RFID card reader or video camera when by grid point Information accurately obtains itself posture information and adjacent gate away from absolute fix of the realization based on grating map significantly improves moving machine The stability and reliability of device people navigation.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is the schematic diagram after environmental modeling；
Fig. 3 is the scanning area schematic diagram after expanding treatment；
Fig. 4 is the grating map after scanning and addition artificial landmark.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
The present invention proposes a kind of grating map construction method that broadens for merging artificial landmark information, the grid of this method building Lattice map pitch is adjustable, can avoid to the maximum extent obstacle by adjusting pitch when building figure, improve the continuity of grid point, guarantee Constructed map can substantially reduce number of turns of the robot in path planning or exploration, to improve robot motion Smoothness and operational efficiency.
Technical solution of the present invention process is as shown in Figure 1, comprising the following steps:
One, environmental modeling
Obtain mobile work robot region, the environmental information in collecting work region, including barrier in working region Position, shape, size；According to collected data, mobile work robot is drawn in XOY plane coordinate system first quartile Regional edge boundary line and obstacles borders line, the cartographic model after environmental modeling are as shown in Figure 2.
Two, the expanding treatment on boundary and obstacle
To avoid mobile robot from touching obstacle and boundary in the process of running, boundary and obstacle need to be carried out at extruding Reason, to guarantee that grid point and ambient boundary and obstacle keep enough spacing.Mobile robot is puffed in XOY plane coordinate system A diameter be D circle；By working region boundary line into working region extruding, extruding is having a size of P；By barrier shape side The outside extruding in boundary line obtains barrier zone, and extruding is having a size of P；P≥D/2；The area that working region boundary line after extruding is surrounded Domain is as scanning area.Specific bulking step is as follows: working region boundary line and obstacles borders line is extracted, with linear boundary For line, it is assumed that boundary line equation is Ax+By=C, and the boundary line equation after extruding isIt is swollen Cartographic model after change is as shown in Figure 3.
Three, determine minimum gate away from
The collision between two mobile robots to guarantee to be located at adjacent gate point, minimum gate is away from dminIt should be greater than mobile robot Dimension D, i.e. dmin≥D。
Four, X to and Y-direction scanning
With minimum gate away from dminFor constraint, the environment after extruding is scanned, generates grating map, scanning requires as follows:
1, adjacent gate point spacing must not less than minimum gate away from, in order to improve all standing of the robot to region, it is settable most Big pitch dmax, general maximum gate is away from dmaxIt is minimum gate away from dminTwice.That is dmax=2 × dmin。
2, under the premise of meeting adjacent gate point interval constraint, guarantee that grid point is not occupied by the obstacle after extruding to greatest extent, Improve the continuity of unoccupied grid point.
3, in the case where being unable to improve the successional situation of grid point, pitch should be reduced to the maximum extent, to guarantee robot to area The coverage rate in domain.
In order to meet the above requirements, scanning step proposed by the present invention is as follows, along X-axis and Y direction respectively to scanning area Domain is scanned, and obtains grating map.Below by X for, illustrate the specific steps of scanning:
S1: X is definediThe position of gridline, X before being taken in for scanning directionLowerAnd XUPPERScanning area is respectively indicated to sweep Retouch the boundary line on direction, XLower< XUPPER；Initialization: i=1, j=1, Xi=XLower；
S2: in Xi+dminAnd Xi+dmaxBetween carry out n times scanning, N is positive integer greater than 0, and therefrom finds out optimal location work For the position of next gridline, comprising steps of
1. setting scan line is XTemp, successively calculate:
XTemp=Xi+dmin,
I=i+1,
Xi=XTemp,
Pro=| XTemp|/||XTemp| |,
Offset=(dmax-dmin)/N；
2. calculating:
XTemp=XTemp+offset
Judge whether to meet: | XTemp|/||XTemp| | < Pro；
If meeting | XTemp|/||XTemp| | < Pro is then calculated:
Xi=XTemp
Pro=| XTemp|/||XTemp||
It is transferred to step S3；
If being unsatisfactory for | XTemp|/||XTemp| | < Pro then calculates j=j+1, judges whether to meet j≤N, if satisfied, then returning It returns step 2., otherwise, calculates Xi=XTemp, it is transferred to step S3；
Wherein, | XTemp| it is scan line XTempOverall length in barrier zone, | | XTemp| | it is scan line XTempPositioned at sweeping The overall length in region is retouched, offset is the step-length of scanning；
S3: judge whether to meet Xi+dmin> XUPPER, if satisfied, then end step S3, X upward gridline is (i.e. at this time Perpendicular to the gridline of X-direction line) position determination finish；If not satisfied, then return step S2.
Similarly, it is scanned along Y-direction, determines the position of gridline in Y-direction (i.e. perpendicular to the gridline of Y-direction line), Y-direction The intersection point of upper gridline and X upward gridline is grid point, and so far, setting completed for grating map grid point.
Above-mentioned steps China, when determining next gridline every time, needs in minimum gate away from dminWith maximum gate away from dmaxBetween look for N A position, therefrom finds out optimal location, and it is that j is used to record currently calculate for which position.This scan method can not protect Card gridline do not occupied by obstacle, but can avoid as far as possible in a certain range by obstacle occupy or reduce by obstacle occupy away from From.
Five, artificial landmark is set for grid point
Artificial landmark, people is arranged for each grid point not occupied by barrier zone in the grid point obtained according to step 4 Own coordinate, orientation and itself spacing between adjacent cells are stored in work road sign.Artificial landmark can be used but unlimited In lower-cost RFID or two-dimension code label.Grating map after adding artificial landmark is as shown in Figure 4.
Mobile robot obtains artificial landmark memory using corresponding RFID card reader or video camera when by grid point The mark information of storage, accurately obtain itself posture information and adjacent gate away from, realize the absolute fix based on grating map, Neng Gouxian Write the stability and reliability for improving Mobile Robotics Navigation.On the other hand, when in environment there are when obstacle, constructed map The continuity of grid point can be significantly improved, number of turns of the robot in path planning or exploration is reduced, to improve machine The smoothness and operational efficiency of people's movement.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims (2)

1.一种融合人工路标信息的可变宽栅格地图构建方法，其特征在于，包括步骤：1. a variable width grid map construction method fused with artificial road sign information, is characterized in that, comprises the steps: (1)环境建模：获取移动机器人工作区域，采集工作区域内的环境信息，包括工作区域内障碍物的位置、形状、尺寸；根据采集到的数据，在XOY平面坐标系第一象限内绘制移动机器人工作区域边界线和障碍物形状边界线；(1) Environment modeling: Obtain the working area of the mobile robot, and collect environmental information in the working area, including the position, shape, and size of obstacles in the working area; according to the collected data, draw in the first quadrant of the XOY plane coordinate system The boundary line of the mobile robot working area and the boundary line of the obstacle shape; (2)将移动机器人膨化为XOY平面坐标系内的一个直径为D的圆；将工作区域边界线向工作区域内膨化，膨化尺寸为P；将障碍物形状边界线向外膨化得到障碍区域，膨化尺寸为P；P≥D/2；将膨化后的工作区域边界线围成的区域作为扫描区域；(2) puffing the mobile robot into a circle with a diameter of D in the XOY plane coordinate system; puffing the working area boundary line into the working area, and the puffing size is P; expanding the obstacle shape boundary line outward to obtain the obstacle area, The puffing size is P; P≥D/2; the area enclosed by the boundary line of the puffed working area is taken as the scanning area; (3)设置相邻栅点的最小栅距为dmin，最大间距为dmax，以最小栅距dmin和最大间距dmax为约束条件沿X轴和Y轴方向分别对扫描区域进行扫描，得到栅格地图；扫描的步骤包括：(3) Set the minimum grid pitch of adjacent grid points as d min and the maximum spacing as d max , and scan the scanning area along the X-axis and Y-axis directions with the minimum grid pitch d min and the maximum spacing d max as constraints, respectively, Get a raster map; the steps for scanning include: (3-1)定义Xi为扫描方向上当前栅格线的位置，XLower和XUPPER分别表示扫描区域在扫描方向上的边界线，XLower＜XUPPER；初始化时：i＝1，j＝1，Xi＝XLower；(3-1) Define X i as the position of the current grid line in the scanning direction, X Lower and X UPPER respectively represent the boundary line of the scanning area in the scanning direction, X Lower <X UPPER ; during initialization: i=1, j =1, X i =X Lower ; (3-2)在Xi+dmin和Xi+dmax间进行N次扫描，N为大于0的正整数，并从中找出最优位置作为下一栅格线的位置，包括步骤：(3-2) Perform N scans between X i +d min and X i +d max , where N is a positive integer greater than 0, and find the optimal position from it as the position of the next grid line, including steps: ①设置扫描线为XTemp，依次计算：①Set the scan line to X Temp , and calculate in turn: XTemp＝Xi+dmin，X Temp =X i +d min , i＝i+1，i=i+1, Xi＝XTemp，X i =X Temp , Pro＝|XTemp|/||XTemp||’Pro=|X Temp |/||X Temp ||' offset＝(dmax-dmin)/N；offset=(d max -d min )/N; ②计算：②Calculation: XTemp＝XTemp+offset XTemp = XTemp +offset 判断是否满足：|XTemp|/||XTemp||＜Pro；Judging whether it is satisfied: |X Temp |/||X Temp ||<Pro; 若满足|XTemp|/||XTemp||＜Pro，则计算：If |X Temp |/||X Temp ||＜Pro, then calculate: Xi＝XTemp X i = XTemp Pro＝|XTemp|/||XTemp||Pro=|X Temp |/||X Temp || 转入步骤(3-3)；Go to step (3-3); 若不满足|XTemp|/||XTemp||＜Pro，则计算j＝j+1，判断是否满足j≤N，若满足，则返回步骤②，否则，计算Xi＝XTemp，转入步骤(3-3)；If it does not satisfy |X Temp |/||X Temp ||<Pro, then calculate j=j+1, judge whether j≤N is satisfied, if it is satisfied, go back to step ②, otherwise, calculate X i =X Temp , turn to Enter step (3-3); 其中，|XTemp|为扫描线XTemp位于障碍区域内的总长，||XTemp||为扫描线XTemp位于扫描区域内的总长；Among them, |X Temp | is the total length of the scan line X Temp in the obstacle area, ||X Temp || is the total length of the scan line X Temp in the scan area; (3-3)判断是否满足Xi+dmin＞XUPPER，若满足，则结束步骤(3)，转入步骤(4)，若不满足，则返回步骤(3-2)；(3-3) Judging whether X i +d min >X UPPER is satisfied, if satisfied, then end step (3), go to step (4), if not, then return to step (3-2); (4)在栅格地图的栅格点上设置人工路标，所述人工路标内存储有自身坐标、方位以及自身与相邻栅格之间的间距，且所述人工路标存储的数据能被移动机器人读取。(4) Arrange artificial road signs on the grid points of the grid map. The artificial road signs store their own coordinates, orientation and the distance between themselves and adjacent grids, and the data stored in the artificial road signs can be moved. Robot reads. 2.根据权利要求1所述的一种融合人工路标信息的可变宽栅格地图构建方法，其特征在于，所述人工路标为RFID标签或二维码标签。2 . The method for constructing a variable-width grid map incorporating artificial road sign information according to claim 1 , wherein the artificial road sign is an RFID label or a two-dimensional code label. 3 .
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