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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Publication number
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
artificial landmark
grating map
extruding
pro
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CN109557919B (en
Inventor
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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Yangcheng Institute of Technology
Yancheng 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

The present invention proposes a kind of grating map construction method that broadens for merging artificial landmark information, and this method adjusts raster width according to robot environment during constructing grating map, avoids obstacle to the maximum extent by adjusting pitch, improves the continuity of grid point；On the other hand, artificial landmark is arranged in the present invention at the grid point of the grating map built, coordinate, orientation and itself spacing between adjacent cells, the stability and reliability for obtaining itself posture information in due course convenient for robot, significantly improving Mobile Robotics Navigation are stored in artificial landmark.

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. a kind of grating map construction method that broadens for merging artificial landmark information, which is characterized in that comprising steps of
(1) mobile work robot region, the environmental information in collecting work region, including working region environmental modeling: are obtained The position of interior barrier, shape, size；According to collected data, moving machine is drawn in XOY plane coordinate system first quartile Device manually makees regional edge 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 to Extruding in working region, extruding is having a size of P；The outside extruding of barrier shape border line is obtained into barrier zone, extruding having a size of 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 dmaxFor Constraint condition is respectively scanned scanning area along X-axis and Y direction, obtains grating map；The step of scanning includes:
(3-1) defines XiThe position of gridline, X before being taken in for scanning directionLowerAnd XUPPERScanning area is respectively indicated to scan Boundary line on 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 conduct 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 to step Suddenly 2., otherwise, X is calculatedi=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 scanning area Overall length in domain；
(3-3) judges whether to meet Xi+dmin> XUPPER, if satisfied, then end step (3), are transferred to step (4), if not satisfied, Then return step (3-2)；
(4) artificial landmark is set on the grid point of grating map, be stored in the artificial landmark own coordinate, orientation and Itself spacing between adjacent cells, and the data of artificial landmark storage can be read by mobile robot.
2. a kind of grating map construction method that broadens for merging artificial landmark information according to claim 1, feature It is, the artificial landmark is RFID label tag or two-dimension code label.
CN201811545660.2A 2018-12-17 2018-12-17 Variable-width grid map construction method fusing artificial road sign information Active CN109557919B (en)

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CN111427360A (en) * 2020-04-20 2020-07-17 珠海市一微半导体有限公司 Map construction method based on landmark positioning, robot and robot navigation system
CN111631639A (en) * 2020-05-26 2020-09-08 珠海市一微半导体有限公司 Map traversal block establishment method and chip of global grid map and mobile robot
CN112099488A (en) * 2020-08-14 2020-12-18 深圳拓邦股份有限公司 Narrow-passage passing method and device for mobile robot, mower and storage medium
CN113712469A (en) * 2021-08-11 2021-11-30 朱明� Unmanned mopping cleaning vehicle based on visual navigation, control method and base station

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