CN111259807B - Underground limited area mobile equipment positioning system - Google Patents
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The application discloses a positioning system of underground limited area mobile equipment, which comprises a three-dimensional laser radar, a radar rotating mechanism and a data processor, wherein the three-dimensional laser radar is arranged on the mobile equipment; the radar rotating mechanism controls the three-dimensional laser radar to rotate around the vertical direction, the three-dimensional laser radar scans a target object in the rotating process to obtain point cloud data, and specifically, the three-dimensional laser radar with a set number can be arranged at the top of a roadway, and continuously scans the environment of the roadway and objects in the environment through the rotating mechanism to obtain the point cloud data and sends the point cloud data to the data processor; and the data processor is used for identifying and dividing the mobile equipment data from the point cloud data to obtain the distance information from the mobile equipment data to the fixed laser radar so as to realize positioning.
Description
Technical Field
The application relates to the technical field of laser radar positioning, in particular to a positioning system of underground limited area mobile equipment.
Background
In social production, living and industrial construction, a roadway is quite common and complex in condition, and is mainly characterized by uneven pavement, insufficient illumination, no GPS signal and the like.
The positioning methods of mobile robots can be broadly divided into two types, one type of sensor is carried on the robot body, such as a wheel encoder, a camera, a laser radar, and the like, and the position of the robot body is estimated by a motion model. The other type is installed in the environment, such as a ground erection guide rail, a wall-mounted two-dimensional code for identification, and the like, and is positioned by measuring the distance to the marker.
The positioning of ground mobile robots and other equipment in roadways is studied very much, such as heading machines, drilling machines, etc.
Drawbacks of the prior art include: the communication conditions in the underground roadway are poor, and under the condition that communication equipment is not erected in advance, information carried by a robot body sensor for positioning and mapping is stored in the robot body, so that the information cannot be transmitted to a control center in real time. When the robot breaks down, the remote real-time monitoring and control of operators are not facilitated. The estimation is started by taking the information obtained by the sensor of the whole process as a starting point, the accuracy of the positioning of the whole process can accumulate errors along with the time, and the accumulated errors have no upper limit under the condition of no human intervention. It can be seen that the conventional underground limited area mobile equipment positioning often has the problems of poor real-time performance and large error.
Disclosure of Invention
In order to solve the problems, the application provides a positioning system of underground limited area mobile equipment.
In order to achieve the purpose of the application, a positioning system of underground limited area mobile equipment is provided, which comprises a three-dimensional laser radar, a radar rotating mechanism and a data processor;
the radar rotating mechanism controls the three-dimensional laser radar to rotate around the vertical direction, the three-dimensional laser radar scans a target object in the rotating process to obtain point cloud data, and the point cloud data are sent to the data processor;
the data processor preprocesses the point cloud data to reduce data redundancy, divides the mobile equipment data from the preprocessed point cloud data, identifies equipment center coordinates of the mobile equipment data, converts the equipment center coordinates from a laser radar coordinate system to a world coordinate system, and determines the position of the mobile equipment according to the converted equipment center coordinates.
In one embodiment, the downhole limited area mobile device positioning system further comprises a monitoring terminal;
the monitoring terminal acquires the position of the mobile equipment determined by the data processor for the user to read.
In one embodiment, the preprocessed point cloud data is P' n ＝(x′ n ,y′ n ,z′ n ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein x' n Representing the preprocessed first dimension point cloud data coordinates, y' n Representing the preprocessed second-dimension point cloud data coordinate, z' n Representing the preprocessed third-dimensional point cloud data coordinate, X min ≤x′ n ≤X max ，Y min ≤y′ n ≤Y max ，Z min ≤z′ n ≤Z max ，D min ＝{X min ,Y min ,Z min The minimum distance of the area where the mobile device is located, D max ＝{X max ,Y max ,Z max And represents the maximum distance of the area in which the mobile device is located.
In one embodiment, the process of segmenting the mobile device data from the preprocessed point cloud data includes:
dividing by adopting an intensity-based method, and distinguishing the point cloud data belonging to the mobile equipment from the whole point cloud data according to different returned intensity values corresponding to pixels in the point cloud data to obtain the mobile equipment data.
In one embodiment, the process of converting the device center coordinates from the lidar coordinate system to the world coordinate system includes:
and converting the center coordinate of the equipment from a laser radar coordinate system to a world coordinate system by adopting a homogeneous transformation formula.
As an embodiment, the homogeneous transformation formula includes:
wherein R represents a translation matrix from the lidar coordinate system to the world coordinate system, and d represents a rotation matrix from the lidar coordinate system to the world coordinate system.
In one embodiment, a set number of three-dimensional laser radars are arranged at the top of a roadway, and the three-dimensional laser radars continuously scan the environment of the roadway and objects in the environment through a rotating mechanism to obtain point cloud data and send the point cloud data to the data processor; and the data processor identifies and divides the mobile equipment data from the point cloud data to obtain the distance information from the mobile equipment data to the fixed three-dimensional laser radar so as to realize positioning.
In the underground limited area mobile equipment positioning system, the three-dimensional laser radar is controlled to rotate around the vertical direction through the radar rotating mechanism, so that the three-dimensional laser radar scans a target object in the rotating process to obtain point cloud data, and the point cloud data are sent to the data processor; the data processor preprocesses the point cloud data to reduce data redundancy, divides the mobile equipment data from the preprocessed point cloud data, identifies equipment center coordinates of the mobile equipment data, converts the equipment center coordinates from a laser radar coordinate system to a world coordinate system, and determines the position of the mobile equipment according to the converted equipment center coordinates so as to accurately locate the mobile equipment in a limited underground area in real time.
Drawings
FIG. 1 is a schematic diagram of a downhole limited area mobile device positioning system architecture according to one embodiment;
FIG. 2 is a schematic diagram of the principle of operation of an embodiment;
FIG. 3 is a schematic diagram of a three-dimensional radar module of one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Referring to FIG. 1, FIG. 1 is a flow chart of a system for locating a mobile device in a limited area downhole, according to one embodiment, including a three-dimensional lidar 11, a radar rotation mechanism 12, and a data processor 13;
the radar rotation mechanism 12 controls the three-dimensional laser radar 11 to rotate around a vertical direction (plumb direction), the three-dimensional laser radar 11 scans a target object (such as a mobile device to be positioned) in the rotation process, obtains point cloud data, and sends the point cloud data to the data processor 13;
the data processor 13 pre-processes the point cloud data to reduce data redundancy, divides the mobile device data from the pre-processed point cloud data, identifies a device center coordinate of the mobile device data, converts the device center coordinate from a laser radar coordinate system to a world coordinate system, and determines a position of the mobile device according to the converted device center coordinate.
The mobile device to be positioned may be a mobile robot in a limited area downhole.
Specifically, a set number of three-dimensional laser radars can be arranged at the top of a roadway, the three-dimensional laser radars continuously scan the environment of the roadway and objects in the environment through a rotating mechanism, and point cloud data are obtained and sent to the data processor; the data processor identifies and divides the mobile equipment data from the point cloud data to obtain the distance information from the mobile equipment data to the fixed laser radar so as to realize positioning.
In the above-mentioned underground limited area mobile device positioning system, the radar rotation mechanism 12 controls the three-dimensional laser radar 11 to rotate around the vertical direction, so that the three-dimensional laser radar 11 scans the target object in the rotation process, obtains the point cloud data, and sends the point cloud data to the data processor 13; the data processor 13 pre-processes the point cloud data to reduce data redundancy, divides the mobile device data from the pre-processed point cloud data, identifies the device center coordinates of the mobile device data, converts the device center coordinates from the laser radar coordinate system to the world coordinate system, and determines the position of the mobile device according to the converted device center coordinates so as to accurately locate the mobile device in the limited underground area in real time.
In one embodiment, the downhole limited area mobile device positioning system further comprises a monitoring terminal;
the monitoring terminal acquires the position of the mobile equipment determined by the data processor for the user to read.
The embodiment can enable the user to know the position of the mobile device in time.
The underground limited area mobile equipment positioning system comprises a hardware equipment layer, an algorithm processing layer and a user layer. Referring to fig. 2, the hardware device layer contains all the hardware required for the downhole limited area mobile device positioning system, such as the three-dimensional lidar, rotation mechanism, and data processor shown in fig. 2, to acquire data and transmit the data to the algorithm processing unit. The algorithm processing layer processes the data acquired from the equipment layer, and roadway environment modeling and mobile robot positioning results are obtained through recognition and segmentation of point clouds. The user layer (the monitoring terminal shown in fig. 2) can receive the calculation result of the algorithm processing layer and display the calculation result to a user (the user) for displaying and controlling the monitoring terminal and providing an open API interface which can be further developed.
The user layer receives the positioning calculation result of the algorithm processing layer, transmits the three-dimensional coordinates of the mobile robot to the monitoring terminal, and displays the real-time positioning result and the motion trail. The further user layer also includes a database interface that can save daily data for subsequent analysis.
Specifically, a three-dimensional radar module can be arranged in the hardware equipment layer, and the three-dimensional radar module comprises a three-dimensional laser radar, a three-dimensional laser radar rotating mechanism and a three-dimensional laser radar data processor and is used for acquiring original data required by a next algorithm processing layer, specifically, a point cloud (comprising the distance, the angle and the signal strength of a target point from the origin of laser radar coordinates) output by the three-dimensional laser radar. The three-dimensional laser radar rotating mechanism enables the three-dimensional laser radar to rotate around a Z axis (plumb direction) and can scan targets in a larger angle range.
In one example, as shown in fig. 3, the three-dimensional radar module includes a three-dimensional laser radar 1-1, a three-dimensional laser radar rotating mechanism 1-2, and a three-dimensional laser radar data processor 1-3, which is used to obtain raw data required by a next algorithm processing layer, specifically, point clouds (including distance, angle and signal strength of a target point from a coordinate origin of the laser radar) output by the three-dimensional laser radar. The three-dimensional laser radar rotating mechanism enables the three-dimensional laser radar to rotate around a Z axis (plumb direction) and can scan targets in a larger angle range.
Further, three-dimensional radar modules can be hung at the top of the roadway along the depth direction of the roadway, the distances from the three-dimensional radar modules to roadway walls on two sides are equal, the distances from all the three-dimensional radar modules to the ground of the roadway are the same, the distances from any two adjacent three-dimensional laser radars are the same and are not larger than the optimal measurement range, and the fact that the scanning ranges of any two three-dimensional laser radars have a certain overlapping range and no scanning empty area is ensured.
In one embodiment, the preprocessed point cloud data is P' n ＝(x′ n ,y′ n ,z′ n ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein x' n Representing the preprocessed first dimension point cloud data coordinates, y' n Representing the preprocessed second-dimension point cloud data coordinate, z' n Representing the preprocessed third-dimensional point cloud data coordinate, X min ≤x′ n ≤X max ，Y min ≤y′ n ≤Y max ，Z min ≤z′ n ≤Z max ，D min ＝{X min ,Y min ,Z min The minimum distance of the area where the mobile device is located, D max ＝{X max ,Y max ,Z max And represents the maximum distance of the area in which the mobile device is located.
The embodiment can perform point cloud preprocessing on the point cloud data so as to reduce data redundancy.
In one embodiment, the process of segmenting the mobile device data from the preprocessed point cloud data includes:
dividing by adopting an intensity-based method, and distinguishing the point cloud data belonging to the mobile equipment from the whole point cloud data according to different returned intensity values corresponding to pixels in the point cloud data to obtain the mobile equipment data.
In one embodiment, the process of converting the device center coordinates from the lidar coordinate system to the world coordinate system includes:
and converting the center coordinate of the equipment from a laser radar coordinate system to a world coordinate system by adopting a homogeneous transformation formula.
As an embodiment, the homogeneous transformation formula includes:
wherein R represents a translation matrix from the laser radar coordinate system to the world coordinate system, d represents a rotation matrix from the laser radar coordinate system to the world coordinate system, and H represents a homogeneous transformation formula.
The process of converting the device center coordinates from the lidar coordinate system to the world coordinate system using the homogeneous transformation formula may include:
P tn '＝HP tn ，
P tn representing the center coordinates of the device before conversion, P tn ' represents the transformed device center coordinates.
Specifically, the flow of the algorithm processing layer comprises point cloud preprocessing, point cloud segmentation and coordinate transformation. The point cloud preprocessing carries out filtering processing on the original laser radar data, so that data redundancy is reduced; preprocessing to obtain point cloud data, and dividing the mobile robot from the whole point cloud according to different return intensities; the coordinate transformation transforms the transformation relation of the mobile robot relative to the laser radar coordinate system into the world coordinate system.
Further, the point cloud preprocessing adopts a mode of combining band-pass filtering and voxel body filtering, and the computational power requirement is reduced on the premise of ensuring accuracy. Wherein the bandpass filter filters out too far or too near point cloud data. Let the original point cloud be s= { P 1 ，P 2 ，P 3 ，…，P n }, middle point P n ＝(x n ,y n ,z n ) Satisfy x n ∈X，y n ∈Y，z n E Z, X represents a first dimension point cloud data seatThe label, Y, represents the first dimension point cloud data coordinates and Z represents the first dimension point cloud data coordinates. Filtered point cloud S '= { P' 1 ，P′ 2 ，P′ 3 ，…，P′ n Site P' n ＝(x′ n ,y′ n ,z′ n ) The method meets the following conditions:
in practice, the minimum distance D is set according to the field environment min And a maximum distance D max Wherein D is min ＝{X min ,Y min ,Z min }、D max ＝{X max ,Y max ,Z max Setting D for different tunnel section sizes min And D max The adaptability and the adjustability of the system to different size roadways are realized. And dividing the laser radar point cloud data processed by the band-pass filter into cubes according to the fixed size, wherein all points in the same voxel body only remain the points in the center of the cubes, so that the data redundancy can be further reduced, and the data processing speed is improved.
The point cloud segmentation is carried out by adopting an intensity-based method, the point cloud information scanned by the three-dimensional laser radar comprises the intensity information of points, and the point cloud belonging to the mobile robot is distinguished from the whole point cloud according to the difference of return intensity values of different objects, so that the identification of the mobile robot is realized.
Further, the center of the point cloud belonging to the mobile robot is calculated, and a mobile robot coordinate system is established by taking the center as an origin.
Further, the world coordinate system is T1, the three-dimensional laser radar coordinate system is Tn, and the three-dimensional laser radar returns to the mobile robot center point P tn ＝(x tn ,y tn ,z tn ). When the three-dimensional laser radar is arranged in the mode, the position of the three-dimensional laser radar in a world coordinate system can be accurately calibrated in advance, and the corresponding transformation relation is as follows: the translation matrix is R and the rotation matrix is d. The center point P can be obtained by coordinate transformation tn Conversion to a world coordinate system, homogeneous transformation of the maleThe formula is:
the underground limited area mobile equipment positioning system aims at the defects of the prior art, and is based on the design of the mobile robot positioning system which is applicable to underground roadways of coal mines and is based on the laser radar. According to the characteristics of the laser radar and the structural characteristics of the underground coal mine roadway, the laser radar is fixed at the top of the roadway, and the mobile robots are identified and segmented from the environment point cloud, so that the mobile equipment such as the mobile robots are positioned, and the requirements of monitoring and control are met according to the positioning result.
Specific implementation principles may include:
different from the traditional mode that the mobile robot carries the laser radar sensor by itself and carries the laser radar sensor to locate through scanning matching, the application arranges a certain number of laser radars at the top of the roadway, the laser radars continuously scan the roadway environment and objects in the environment through the specific rotating mechanism, and the mobile robot is identified and segmented from the point cloud obtained by the laser radar scanning, so that the distance information from the mobile robot to the fixed laser radars is obtained to realize the location.
The system is used for positioning the mobile robot in the underground tunnel of the coal mine based on the laser radar, and comprises a bottom hardware equipment layer, an algorithm processing layer and a user layer. When the device is applied to underground coal mines, the explosion-proof safety requirement needs to be considered, so that the device is essentially safe or the necessary explosion-proof treatment is needed.
The hardware device layer includes the data required to achieve reliable positioning and environment construction by arranging suitable lidar sensors.
And the algorithm processing layer processes the data acquired from the equipment layer to acquire roadway environment modeling and mobile robot positioning results.
The user layer receives the settlement result of the algorithm processing layer and displays the settlement result to a user for displaying and controlling the monitoring terminal and providing an open API interface which can be further developed.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
It should be noted that, the term "first\second\third" related to the embodiment of the present application is merely to distinguish similar objects, and does not represent a specific order for the objects, it is to be understood that "first\second\third" may interchange a specific order or sequence where allowed. It is to be understood that the "first\second\third" distinguishing aspects may be interchanged where appropriate to enable embodiments of the application described herein to be implemented in sequences other than those illustrated or described.
The terms "comprising" and "having" and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or device that comprises a list of steps or modules is not limited to the particular steps or modules listed and may optionally include additional steps or modules not listed or inherent to such process, method, article, or device.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (7)
1. The underground limited area mobile equipment positioning system is characterized by comprising a three-dimensional laser radar, a radar rotating mechanism and a data processor;
the radar rotating mechanism controls the three-dimensional laser radar to rotate around the vertical direction, the three-dimensional laser radar scans a target object in the rotating process to obtain point cloud data, and the point cloud data are sent to the data processor;
the data processor preprocesses the point cloud data to reduce data redundancy, divides the mobile equipment data from the preprocessed point cloud data, identifies equipment center coordinates of the mobile equipment data, converts the equipment center coordinates from a laser radar coordinate system to a world coordinate system, and determines the position of the mobile equipment according to the converted equipment center coordinates.
2. The downhole limited area mobile device positioning system of claim 1, further comprising a monitoring terminal;
the monitoring terminal acquires the position of the mobile equipment determined by the data processor for the user to read.
3. The downhole limited area mobile device positioning system of claim 1, wherein the preprocessed point cloud data is P n ′＝(x n ′,y n ′,z n ' s); wherein x is n ' represents the preprocessed first dimension point cloud data coordinates, y n 'represents the preprocessed second-dimension point cloud data coordinates, z' n Representing the preprocessed third-dimensional point cloud data coordinate, X min ≤x n ′≤X max ，Y min ≤y n ′≤Y max ，Z min ≤z′ n ≤Z max ，D min ＝{X min ,Y min ,Z min The minimum distance of the area where the mobile device is located, D max ＝{X max ,Y max ,Z max And represents the maximum distance of the area in which the mobile device is located.
4. The downhole limited area mobile device positioning system of claim 1, wherein the process of segmenting mobile device data from the preprocessed point cloud data comprises:
dividing by adopting an intensity-based method, and distinguishing the point cloud data belonging to the mobile equipment from the whole point cloud data according to different returned intensity values corresponding to pixels in the point cloud data to obtain the mobile equipment data.
5. A downhole limited area mobile device positioning system according to any of claims 1-4, wherein converting the device center coordinates from a lidar coordinate system to a world coordinate system comprises:
and converting the center coordinate of the equipment from a laser radar coordinate system to a world coordinate system by adopting a homogeneous transformation formula.
6. The downhole limited area mobile device positioning system of claim 5, wherein the homogeneous transformation formula comprises:
wherein R represents a translation matrix from the lidar coordinate system to the world coordinate system, and d represents a rotation matrix from the lidar coordinate system to the world coordinate system.
7. The system according to any one of claims 1 to 4, wherein a set number of three-dimensional lidars are arranged at the top of the roadway, and the three-dimensional lidars continuously scan the roadway environment and objects in the environment through a rotation mechanism to obtain point cloud data and send the point cloud data to the data processor; and the data processor identifies and divides the mobile equipment data from the point cloud data to obtain the distance information from the mobile equipment data to the fixed three-dimensional laser radar so as to realize positioning.
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| CN107462897A (en) * | 2017-07-21 | 2017-12-12 | 西安电子科技大学 | The method that three-dimensional based on laser radar builds figure |
| CN110232736A (en) * | 2019-06-18 | 2019-09-13 | 中国矿业大学 | A kind of down-hole combined mining working three-dimensional scenic fast construction method |
| CN110363846A (en) * | 2019-08-21 | 2019-10-22 | 江苏盈丰电子科技有限公司 | A kind of underground 3D laser imaging intelligent inspection system and its application method |
| CN110514225A (en) * | 2019-08-29 | 2019-11-29 | 中国矿业大学 | The calibrating external parameters and precise positioning method of Multi-sensor Fusion under a kind of mine |
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