CN109696168A - A kind of mobile robot geometry map creating method based on laser sensor - Google Patents
A kind of mobile robot geometry map creating method based on laser sensor Download PDFInfo
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- CN109696168A CN109696168A CN201910144124.XA CN201910144124A CN109696168A CN 109696168 A CN109696168 A CN 109696168A CN 201910144124 A CN201910144124 A CN 201910144124A CN 109696168 A CN109696168 A CN 109696168A
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The invention belongs to mobile robot map-building technical fields, are related to a kind of mobile robot geometry map creating method based on laser sensor.This method acquires environmental information locating for robot using laser sensor for the complexity of the map in circumstances not known in real time；Region segmentation is carried out to data acquisition system using dynamic thresholding method；Straight line fitting is carried out using least square method；By judging that the Slope relationship of adjacent segments merges sub- line segment, the complete line segment of reflection local map is obtained；The local map under two different coordinates is transformed under the same coordinate system by seeking excursion matrix, the correlation between two continuous frames middle conductor and line segment is found, global map is updated, to realize real-time and high-precision geometry map building.Advantage is the present invention compared with prior art: present invention reduces the errors of sensor acquisition mobile robot ambient data, improve the real-time and precision of mobile robot building map.
Description
Technical field
The present invention relates to mobile robot map-building technical field, specially a kind of moving machine based on laser sensor
Device people's geometry map creating method.
Background technique
The synchronous map building of mobile robot and positioning (SLAM) are one of the core contents of mobile robot research.One
It is mobile either with or without object either with or without turning either with or without barrier in a strange environment, these be all it is unknown, to allow machine
Device people makes anticipation and avoids colliding, and must just make it have the ability for obtaining environmental information in real time and creating environmental model.
The accuracy of environmental modeling determines the precision of navigator fix, and the self-positioning of robot again relies on environmental modeling.One
Environmental modeling appropriate will improve robot to the understandability of environment, reduces the planning amount of decision, shortens planning time.
The foundation of environmental model is usually to be realized by establishing environmental map.In recent years, domestic and international researcher pair
A large amount of experiment and theoretical research are carried out in the creation of environmental map.The method of description environmental map mainly has grating map
Method, geometry Map Method and topological map method.The museum guide robot MINERVA of Thrun et al. design utilizes laser ranging
Instrument is scanned and establishes grating map, is positioned using EM method (maximum expected value method) and Markov method algorithm.Zhong Chao
It is bright etc. to propose the instant creation method based on GNG network topology map under a kind of dynamic environment.
Due to laser range finder have the advantages that it is with high accuracy, have in recent years scholar carried out using laser range finder carry out ring
The correlative study work of border perception.Cristiano P. straightway, round and elliptical set is to indicate environmental map, Xavier
J. a kind of feature extraction algorithm based on inscribed angle is proposed, the straightway in environment, circular arc and the profile of people's leg etc. are extracted
Feature.Zhang S. carries out real-time straightway and circular arc feature extraction to environment using expanded Kalman filtration algorithm, improves
The efficiency of feature extraction.
Had at present using more extensive denoising method based on the Denoising Algorithm of Fourier transformation and going based on wavelet transformation
It makes an uproar method.The present invention is denoised using wavelet thresholding method.
For the demand that current mobile robot works in more complicated indoor environment, more and more researchers start to seek
Seek method that is a kind of succinct and efficiently creating environmental map.The real-time and accuracy for how improving map building are to grind in the industry
The problem of person's of studying carefully overriding concern.
Summary of the invention
To solve the above-mentioned problems, the purpose of the present invention is to provide a kind of mobile robot based on laser sensor is several
What map creating method reaches real-time map creation, and improves the purpose of the mobile robot building accuracy of map.
To achieve the goals above, the mobile robot geometry map wound based on laser sensor that the present invention provides a kind of
Construction method, comprising the following steps:
Step 1: regarding mobile robot as rigid body, create local coordinate system and global coordinate system and carry out coordinate conversion；
Step 2: data information is obtained to complete to surrounding by the laser range sensor being mounted in mobile robot
The cognition of environment；
Step 3: the discrete data point that laser range sensor acquires is divided into using dynamic thresholding method by different regions；
Step 4: carrying out denoising using data point of the Wavelet Transform Threshold method to different zones；
Step 5: line segment being fitted to by least square method to the data point in region each after denoising, finds the area data
The optimal function matching of point, removes the big line segment of deviation, merges to the fitting a straight line of segmentation area, obtain current office
Portion's map；
Step 6: the excursion matrix R of two continuous frames local map is found out by characteristic point, by excursion matrix R by two not
It is transformed under the same coordinate system with the local map under coordinate system, by all local map data fusions；
Step 7: finding the correlation between two continuous frames middle conductor and line segment, global map is updated；Step 8:
Step 2-- step 7 is repeated, real-time geometry map is obtained.
Compared with prior art, the beneficial effects of the present invention are: relative to existing mobile robot map-building method,
The present invention is in real time acquired environmental information by laser sensor, by dynamic thresholding method, least square method and asks
The methods of excursion matrix is taken, to effectively realize autonomous map building, precision and real-time are all significantly improved, and can satisfy
In the actual demand of mobile robot map-building, it is particularly advantageous in that:
1. the present invention obtains environmental information by laser sensor, there is high data sampling frequency, high sampling angle to differentiate
Rate and high sampling precision can obtain high-precision environmental information and can guarantee the real-time of creation geometry map；
2. the present invention carries out region segmentation to data acquisition system using dynamic thresholding method, avoid remotely that region division can be excessively
Careful situation, thus the phenomenon that avoiding part observation point loss of data；Straight line fitting is carried out using least square method, it can be right
Data in environment carry out feature extraction, high-efficient；By judging that the Slope relationship of adjacent segments merges sub- line segment, side
Method is simple and practical；
3. the local map under two different coordinates is transformed into the same coordinate system by seeking excursion matrix by the present invention
Under, by all local map data fusions, the relationship between line segment is facilitated deciding on, improves the accuracy of map building.
Detailed description of the invention
Fig. 1 is the relational graph of mobile robot local coordinate system and global coordinate system
Fig. 2 is mobile robot local map visioning procedure figure
Fig. 3 is the flow chart that mobile robot is generated global map by local map
Fig. 4 is true experiment scene-laboratory building boiled water room
Fig. 5 is an example of the raw data points that laser sensor measures
Fig. 6 is the global map after real-time update
Specific embodiment
It is right in the following with reference to the drawings and specific embodiments in order to be more clear the purpose of the present invention, technical solution and advantage
The present invention is described in further details.It should be pointed out that described herein, specific examples are only used to explain the present invention, and
It is not used in the restriction present invention.In this embodiment, robot can autonomous, provisioned distance measuring sensor be laser ranging
Instrument.
A kind of mobile robot geometry map creating method based on laser sensor, Fig. 1 shows be robot establish
The principle of local coordinate system and global coordinate system.Wherein grey parts are the mobile robot for carrying laser sensor, (x '1,y
′1) it is the laser data point under bodywork reference frame, angle of the α between robot and global coordinate system x-axis.
Step 1: world coordinates (x-y) system is using the global map lower left corner as origin, (x0,y0) it is robot in world coordinates
Position in system；
Step 2: local coordinate system (x '-y ') is using robot central point as origin；
The positive direction of step 3:y axis is the positive direction of car body, (x '1,y′1) be bodywork reference frame under laser data point, α
For the angle between robot and global coordinate system x-axis；
Step 4:(x ', y ') be expression of the laser data point in global coordinate system:
Fig. 2 is the flow chart for illustrating to create the implementation key step of the method for local map based on laser sensor.Reference
Fig. 2, the main flow of this method are as follows:
Step 1: robot autonomous creation local coordinate system and global coordinate system are with the relationship of determining itself and environment；
Step 2: robot moves in circumstances not known, when robot motion's distance is more than 20cm or angle is more than 30 °
When, laser sensor acquires a data；
Step 3: since laser scanner is larger in observation point spacing remotely, coming dividing regions according to fixed threshold
Domain, region division remotely can be excessively careful, and part observation point will be dropped because being considered as noise spot.Therefore use dynamic threshold
The discrete data point measured is carried out region segmentation by value.The specific steps of region segmentation include:
Step 3.1: point (Xi, Yi) terminal as current region, point (Xi+1, Yi+1) starting point as subsequent region, pass through
Following formula calculates the distance between continuous two o'clock
Step 3.2: judging DjWith the relationship between threshold value δ, if Dj< δ, then it is assumed that the two points are continuously, to execute step
Rapid 3.3；If Dj> δ, then it is assumed that the two point be it is discontinuous, point (x, y) is the cut-point in two regions；
Step 3.3: the angle (point (X of the line formed section between the two o'clock of front and back is calculated by formula 4i+1, Yi+1) conduct
The terminal in a upper region):
Step 3.4: judging Δ θ and threshold valueBetween relationship, ifThen think this two o'clock point-blank；
IfThen think the two points respectively on two not parallel straight lines.
Step 4: removing noise using wavelet thresholding method, useful signal is extracted, to obtain more accurate environmental model.Tool
Body step includes:
Step 4.1: multi-scale wavelet transformation being carried out to the signal of sensor output, selects suitable small echo and wavelet decomposition
Number of plies N carries out wavelet decomposition to N layers to noisy acoustical signal, obtains corresponding coefficient of wavelet decomposition；
Step 4.2: threshold process is carried out to the wavelet coefficient after decomposition；
Step 4.3: carrying out wavelet inverse transformation, the wavelet coefficient after threshold process is subjected to wavelet reconstruction, after obtaining denoising
Signal.
Step 5: being matched using the optimal function that least square method finds each number of regions strong point.Give up invalid line segment.Tool
Body step includes:
Step 5.1: assuming that data point does not have error, it is assumed that have such straight line:
Y=p1x+p2Formula 5
Make the data point in selected region all on this straight line；
Step 5.2: the quadratic sum for enabling distance of all points to straight line is D:
When D minimum, straight line y=p1x+p2Closest to ideal conditions；
Step 5.3: local derviation being asked to obtain optimal solution (p1,p2):
Step 5.4: obtaining a threshold value δ according to many experiments, if D is greater than δ, is considered as invalid line segment, directly gives up.
Step 6: judging the relationship between adjacent segments, the line segment for the condition that meets is merged, to obtain reflection part
The complete line segment of map.Specific steps include:
Step 6.1: calculating slope p1, p2 value of every fitting a straight line；
Step 6.2: for adjacent Effective line k and k+1, if meeting formula 11, directly merging；
p1(k)-p1(k+1) 0 formula 9 of ≈
Step 6.3: recalculating the line segment feature after merging, thus obtain local map.
Step 7: completing the creation of local map.
In the examples of implementation, efficiency and accuracy are focused in the creation of local map.
What Fig. 3 was indicated is the flow chart that mobile robot is generated global map creation by local map.Referring to Fig. 3, the party
The main flow of method are as follows:
Step 1: seeking excursion matrix, find out feature relevant to this line segment respectively in local map and global map
Point (such as starting point, terminal) puts the excursion matrix R for calculating local map and global map by these.The step is by locally
Figure generates the core link of global map.Specific steps include:
Step 1.1: the significantly related line segment of a feature is found out by line segment feature；
Step 1.2: found out respectively in local map and global map relevant to this line segment characteristic point (such as starting point,
Terminal), the excursion matrix R=(Δ x Δ y θ) for calculating local map and global map is put by theseT.Formula is as follows:
Step 2: being transformed to two frame local maps under the same coordinate system by excursion matrix R, convenient for judging line in next step
Relationship between section.
Step 3: judging the relationship of local map Yu global map middle conductor, there are mainly three types of situations: the line of local map
Section is a part of the line segment of global map；The line segment of global map is a part of the line segment of local map；Local map
A part of line segment is a part of the line segment of global map.
Step 4: updating global map, since laser sensor has high data sampling frequency, can guarantee geometry map
Real-time.Specific steps include:
Step 4.1: if the line segment of local map and the line segment of corresponding global map essentially coincide either it
A part then remains the line segment of global map, deletes the line segment of local map；
Step 4.2: if the line segment of global map is a part of the line segment of corresponding local map, by local map
Line segment be added in global map, while deleting local map and the related line segment in global map；
Step 4.3: if the line segment of local map and the line segment of corresponding global map partially overlap, by this line
Initial data of the section in global map and local map is merged, and fits a new line segment again, and by this line
Section is added in global map, while the original line segments in local map and global map being deleted；
Step 4.4:, can will locally if the line segment of local map and the line segment of global map do not have any correlation
Line segment in figure is directly appended in global map, while deleting the line segment in local map；
Step 4.5: repeating step 4.1 --- step 4.4, until the line segment in local map is sky, completion global map
Update.
Fig. 4 is true experiment scene-laboratory building boiled water room.The intermediate clear of experimental situation script, in order to verify this hair
Bright availability placed an express delivery chest among boiled water room.
Fig. 5 is an example of the raw data points that laser sensor measures.
Fig. 6 is the global map after real-time update.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (9)
1. a kind of mobile robot geometry map creating method based on laser sensor, feature exist
In, this method comprises:
Step 1: regarding mobile robot as rigid body, create local coordinate system and global coordinate system and carry out coordinate conversion；
Step 2: data information is obtained to complete to ambient enviroment by the laser range sensor being mounted in mobile robot
Cognition；
Step 3: the discrete data point that laser range sensor acquires is divided into using dynamic thresholding method by different regions；
Step 4: carrying out denoising using data point of the Wavelet Transform Threshold method to different zones；
Step 5: line segment being fitted to by least square method to the data point in region each after denoising, finds the number of regions strong point
Optimal function matching, remove the big line segment of deviation, the fitting a straight line of segmentation area merged, obtain it is current locally
Figure；
Step 6: finding out the excursion matrix R of two continuous frames local map by characteristic point, sat two differences by excursion matrix R
Local map under mark system transforms under the same coordinate system, by all local map data fusions；
Step 7: finding the correlation between two continuous frames middle conductor and line segment, global map is updated；
Step 8: repeating step 2-- step 7, obtain real-time geometry map.
2. a kind of mobile robot geometry map creating method based on laser sensor according to claim 1, special
Sign is: regarding mobile robot as rigid body in the step 1, creates local coordinate system and global coordinate system and carry out coordinate turn
It changes；Algorithm is as follows:
Step 1: world coordinates (x-y) system is using the global map lower left corner as origin, (x0,y0) it is robot in global coordinate system
Position；
Step 2: local coordinate system (x '-y ') is using robot central point as origin；
The positive direction of step 3:y axis is the positive direction of car body, (x '1,y′1) be bodywork reference frame under laser data point, α is machine
Angle between device people and global coordinate system x-axis；
Step 4:(x ', y ') be expression of the laser data point in global coordinate system:
3. a kind of mobile robot geometry map creating method based on laser sensor according to claim 1, special
Sign is: each barrier is relative to robot in the ambient enviroment that the data in the step 2 scan for laser sensor
Distance and angle.
4. a kind of mobile robot geometry map creating method based on laser sensor according to claim 1, special
Sign is: all data points measured being regarded as to the set of a point in the step 3, are divided into using dynamic thresholding method
Different regions；It is divided by calculating differential seat angle of the distance between the continuous two o'clock between the two o'clock of front and back between line formed section
Region；Dynamic threshold is to test the empirical value obtained for several times；The step of region segmentation includes:
Step 1: point (Xi, Yi) terminal as current region, point (Xi+1, Yi+1) starting point as subsequent region, pass through following public
Formula calculates the distance between continuous two o'clock
Step 2: judging DjWith the relationship between threshold value δ, if Dj< δ, then it is assumed that the two points are continuous, execution steps 3；Such as
Fruit Dj> δ, then it is assumed that the two point be it is discontinuous, point (x, y) is the cut-point in two regions；
Step 3: the angle (point (X of the line formed section between the two o'clock of front and back is calculated by formula 4i+1, Yi+1) it is used as a upper region
Terminal):
Step 4: judging Δ θ and threshold valueBetween relationship, ifThen think this two o'clock point-blank；IfThen think the two points respectively on two not parallel straight lines.
5. a kind of mobile robot geometry map creating method based on laser sensor according to claim 1, special
Sign is: the step 4 utilizes the noise in Wavelet Transform Threshold method removal laser sensor acquisition data；
Step 1: multi-scale wavelet transformation is carried out to the signal of sensor output, selects suitable small echo and wavelet decomposition number of plies N,
Wavelet decomposition is carried out to N layers to noisy acoustical signal, obtains corresponding coefficient of wavelet decomposition；
Step 2: threshold process is carried out to the wavelet coefficient after decomposition；
Step 3: carrying out wavelet inverse transformation, the wavelet coefficient after threshold process is subjected to wavelet reconstruction, the signal after being denoised.
6. a kind of mobile robot geometry map creating method based on laser sensor according to claim 1, special
Sign is: the step 5 is matched using the optimal function that least square method finds the number of regions strong point, removes the big line of deviation
Section；
Step 1: assuming that data point does not have error, it is assumed that have such straight line:
Y=p1x+p2Formula 5
Make the data point in selected region all on this straight line；
Step 2: the quadratic sum for enabling distance of all points to straight line is D:
When D minimum, straight line y=p1x+p2Closest to ideal conditions；
Step 3: local derviation being asked to obtain optimal solution (p1,p2):
Step 4: obtaining a threshold value δ according to many experiments, if D is greater than δ, is considered as invalid line segment, directly gives up.
7. a kind of mobile robot geometry map creating method based on laser sensor according to claim 1, special
Sign is: the step 5 merges the fitting a straight line of segmentation area, obtains local map；
Step 1: calculating slope p1, p2 value of every fitting a straight line；
Step 2: for adjacent Effective line k and k+1, if meeting formula 11, directly merging；
p1(k)-p1(k+1) 0 formula 9 of ≈
Step 3: recalculating the line segment feature after merging, thus obtain local map.
8. a kind of mobile robot geometry map creating method based on laser sensor according to claim 1, special
Sign is: the step 6 finds out the excursion matrix of two continuous frames local map by characteristic point, and two frame local maps are transformed into
Under the same coordinate system；
Step 1: the significantly related line segment of a feature is found out by line segment feature；
Step 2: find out characteristic point (such as starting point, terminal) relevant to this line segment respectively in local map and global map,
The excursion matrix R=(Δ x Δ y θ) for calculating local map and global map is put by theseT.Formula is as follows:
Step 3: being transformed to two frame local maps under the same coordinate system by excursion matrix R.
9. a kind of mobile robot geometry map creating method based on laser sensor according to claim 1, special
Sign is: the step 7 finds all local map data fusions related between two continuous frames middle conductor and line segment
Property, to be updated to global map, guarantee the real-time of global map；
Step 1: if the line segment of local map and the line segment of corresponding global map essentially coincide or its a part,
Then the line segment of global map is remained, deletes the line segment of local map；
Step 2: if the line segment of global map is a part of the line segment of corresponding local map, by the line segment of local map
It is added in global map, while deletes local map and the related line segment in global map；
Step 3: if the line segment of local map and the line segment of corresponding global map partially overlap, by this line segment complete
Initial data in local figure and local map is merged, and fits a new line segment again, and this line segment is added
It is deleted into global map, while by the original line segments in local map and global map；
Step 4:, can will be in local map if the line segment of local map and the line segment of global map do not have any correlation
Line segment is directly appended in global map, while deleting the line segment in local map；
Step 5: repeat step 1 --- step 4, until the line segment in local map be sky, complete the update of global map.
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| CN115512601A (en) * | 2022-11-15 | 2022-12-23 | 武汉智图科技有限责任公司 | Automatic splicing method and device for geographic information non-connection linear elements |
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Application publication date: 20190430 |