CN111965662B - Speed measuring and positioning method for indoor trolley - Google Patents
Speed measuring and positioning method for indoor trolley Download PDFInfo
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Abstract
The invention belongs to the technical field of indoor positioning, and discloses a speed measuring and positioning method of an indoor trolley, which comprises the following steps of 1) acquiring basic environment information and relative position information when the trolley is stationary; 2) Acquiring point cloud data during trolley movement, and calculating a time stamp; 3) Judging the motion state of the trolley according to the acquired information; 4) According to the judged motion state, carrying out different processing on the obtained data to obtain information such as attitude angle and the like of the laser radar; 5) According to the information of the attitude angle and the like, calculating the pose information of the laser radar under a world coordinate system; 6) Repeating the steps 2) to 5) until the movement stops; 7) And according to the obtained basic information, converting the pose information of the laser radar into the pose information of the trolley. The invention realizes the acquisition of the pose information of the trolley, has the characteristics of high accuracy, small calculation amount and low cost, and can be used for measuring and positioning the speed of the trolley with high accuracy in indoor environment.
Description
Technical Field
The invention belongs to the technical field of indoor positioning, and particularly relates to a speed measurement and positioning method for an indoor trolley.
Background
With the rise of artificial intelligence tide, mobile robots have started to walk into thousands of households, but because the robots need accurate map information for indoor movement, the existing commercial outdoor positioning schemes are not applicable, so that the positioning problem of the robots in an indoor unknown environment is widely valued. At present, indoor positioning of robots has been developed to be mature, and many scheme providers and open source schemes are developed, but due to limitations of hardware equipment precision, noise and the existing schemes, the positioning precision of the prior art schemes is often not high enough and cannot reach millimeter level or below.
Currently, the dominant technology of robot positioning in an indoor unknown environment is the laser radar SLAM technology. The existing positioning based on the 2D laser radar mostly utilizes the point cloud pose resolving transformation between adjacent frames, and the error is larger; in addition, the visual SLAM is greatly influenced by indoor environment, and the weak change of light rays can influence the image construction and positioning accuracy; and the distance information obtained directly or indirectly through the camera has large noise, is difficult to compare with the precision of the 2D laser radar, and meanwhile, because the monocular and binocular cameras obtain depth information, a large amount of calculation is needed, and the real-time performance of SLAM is affected. When meeting the indoor positioning scene with higher requirements, the positioning with high precision cannot be realized, so that the problem that the large-scale popularization and application cannot be realized is caused. These problems seriously affect the further development of the indoor mobile trolley.
Patent application number 202010148743.9, patent name: a multi-2D laser radar fusion map building and positioning method and system; according to the application, the radar is enabled to scan the corner position through rotating the radar, laser frame data scanned before and after rotation of each radar is recorded and stored, the corner is processed and scanned, the position and the pose of the corner are found, the radar data frames are transformed to the same coordinate system, proper resolution is set for filtering, timestamp processing is carried out on the radar data, matching and mapping are carried out, radar data frames are recorded once every other distance or certain time, laser point data and the current pose are stored as sites, nearby sites are searched once every other distance, laser data matching is carried out once on the nearest sites, and whether pose correction is needed or not is judged according to the matching degree p. The method has the defects that the position and posture of the point cloud between adjacent frames are utilized to calculate and transform, and the error is large.
Patent application number 201910554218.4, patent name: the robot path planning method based on single-line laser radar and binocular camera data fusion is provided; the application uses the measurement data of the 2D laser radar as a reference, and adopts the measurement data of the 2D laser radar to correct the measurement data of the binocular camera; after the data fusion of the binocular camera and the laser radar is completed, carrying out SLAM construction on the binocular camera to enable the SLAM to have dense point clouds, and then taking the corrected point clouds as a point cloud image of the robot path planning, thereby completing the path planning of the robot. The method has the defects that a binocular camera, a visual odometer and the like are needed, the data are fused, corrected and the like, the method depends on more equipment, the calculated amount is large, and the method cannot be suitable for indoor positioning scenes with higher precision requirements.
Through the above analysis, the problems and defects existing in the prior art are as follows: the existing speed measuring and positioning method of the indoor mobile robot is more in dependent equipment, low in precision and high in cost.
The difficulty of solving the problems and the defects is as follows: the reduction of auxiliary equipment reduces available information, so that the difficulty and the accuracy of indoor positioning are greatly improved, but the increase of auxiliary equipment increases the cost; because the point cloud data is often processed in frames, the motion change of the trolley in one frame time is ignored, and the improvement of the precision is limited, the high-precision indoor positioning is difficult to realize based on the existing algorithm.
The meaning of solving the problems and the defects is as follows: the auxiliary equipment is reduced, so that the volume of the indoor positioning robot is reduced, and the operation of a user is facilitated; the high-precision indoor positioning is beneficial to developing more services, and is suitable for occasions with higher requirements on positioning precision; the reduction of the cost promotes the popularization of the indoor positioning related products.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a speed measuring and positioning method for an indoor trolley.
The invention is realized in such a way that the speed measurement and positioning method of the indoor trolley comprises the following steps:
Basic environment information and relative position information of the trolley when the trolley is stationary are acquired;
acquiring point cloud data during trolley movement, and calculating a time stamp;
judging the motion state of the trolley according to the acquired information;
Carrying out different processing on the obtained data according to the judged motion state to obtain attitude angle information of the laser radar;
according to the information of the attitude angle and the like, calculating the pose information of the laser radar under a world coordinate system;
Repeatedly executing the point cloud data when the trolley moves, and calculating a time stamp; judging the motion state of the trolley according to the acquired information; according to the judged motion state, carrying out different processing on the obtained data to obtain information such as attitude angle and the like of the laser radar; according to the attitude angle information, calculating the pose information of the laser radar under the world coordinate system until the movement stops;
and according to the obtained basic information, converting the pose information of the laser radar into the pose information of the trolley.
Further, the method for measuring and positioning the speed of the indoor trolley further comprises the following steps:
1) Enabling the trolley to rest near the wall, enabling a 2D laser radar arranged above the trolley to rotate for one circle to obtain point cloud data, wherein the point cloud data comprise distance and angle, taking the direction pointed by a laser beam as an x-axis, taking the center of the laser radar as an origin at the starting time of the laser radar, establishing a world coordinate system, fitting the point cloud data swept to each wall by using a straight line under the world coordinate system to obtain a straight line equation of the wall, and further establishing an environment map;
2) Establishing a trolley coordinate system o cxcyc and a laser radar coordinate system o lxlyl, according to the point cloud data obtained in the step (1), assuming that the distance is shortest, the corresponding angle is alpha, further obtaining a rotation angle difference between the radar coordinate system and the trolley coordinate system, measuring the displacement difference through a tape measure, and establishing a conversion matrix H l,c of the laser radar coordinate system and the trolley coordinate system;
3) Acquiring point cloud data (x i,yi) during trolley movement, and acquiring a time stamp t i corresponding to each point cloud data (x i,yi) according to the rotation angular velocity of the laser radar;
4) Judging initial data points scanned to each wall, and turning starting points and turning ending points according to the point cloud data obtained in the step (3), wherein the specific steps are as follows:
4a) : calculating absolute values theta 2,i of the inclination angle differences between every two point cloud data (x i,yi) obtained in the step (3) according to a <1>,
When θ 2,i＞ε1∩θ2,i-1＜ε1, where ε 1 is a preset threshold value related to the two-sided wall angle, then i is taken as the starting data point for the other wall swept;
4b) : on the basis of the absolute value of the tilt angle difference obtained in step 4 a), θ 3,i＝θ2,i-θ2,i-1 is calculated, if the following conditions are simultaneously true:
A).θ3,i＞ε4∩θ3,i＜ε5；
B).θ3,i-1＜ε4；
where ε 4、ε5 represents a preset threshold value related to a car turn, i is taken as the turn starting point. If the following conditions are simultaneously satisfied:
A).θ3,i＞-ε5∩θ3,i＜-ε4；
B).θ3,i-1＞-ε4；
taking i as a turning end point, and marking the state of the trolley as uniform turning for points after the turning start point and before the turning end point;
(5) Judging other motion states according to the point cloud data obtained in the step (3) in a segmented mode, wherein the motion states comprise static motion, uniform-speed linear motion, uniform-acceleration linear motion and uniform-deceleration linear motion, and the specific steps are as follows:
5a) : according to the initial data point of each wall obtained in the step 4 a), for points other than the uniform turning motion state, on the two walls which are judged in sequence, four continuous points { X 1,X2,X3,X4}、{X5,X6,X7,X8 } are respectively substituted into a uniform speed change calculation formula to obtain a group of state quantities, namely speed, acceleration and motion direction (v 1,a1,θ1), the process is repeated to obtain another group of state quantities (v 2,a2,θ2), and the motion state is obtained by comparing the two groups of state quantities on the assumption that the calculation process involves point cloud data in [ t p,tq ] time, wherein the specific rule is as follows:
a) If v 1＜δ1∩v2＜δ1 is true, marking the state of the trolley as stationary in the time of [ t p,tq ];
B) If |v 1-v2|＜δ2∩a1＜δ3∩a2＜δ3 is met, marking the state of the trolley as uniform linear motion in the time of [ t p,tq ];
C) If the absolute value a 1-a2|＜δ4 is met, marking the state of the trolley as uniform speed-changing linear motion in the time of [ t p,tq ];
Where δ i (i=1, 2,3, 4) is a preset threshold close to 0.
5B) : repeating the step 5 a) to sequentially obtain two motion states R and Q, and assuming that the operation process involves point cloud data in [ t p,tw ] time, if R=Q, the motion state is unchanged, if R is not equal to Q, according to the position of the laser radar at the moment t p, the motion state sequentially calculates the point cloud data to be output by the radar at the next moment, compares the point cloud data with the point cloud to be actually output, and if the phase difference is larger, changes the state, thereby obtaining an accurate state change point t v. For points between [ t p,tv ], the label state is R;
(6) And (3) carrying out different processing on the point cloud data according to different marking states in the step (4) and the step (5), wherein the processing is specifically as follows:
Substituting the point cloud data in the corresponding time into a uniform computing algorithm when the marking state is uniform linear motion;
when the marking state is uniform speed-change linear motion, substituting point cloud data in corresponding time into a uniform speed-change calculation algorithm;
Substituting the point cloud data in the corresponding time into a turning calculation algorithm when the marking state is uniform turning movement;
(7) According to the attitude angle and other information obtained in the step (6), acquiring the pose information of the laser radar under the world coordinate system, wherein the specific steps are as follows:
7a) : according to the attitude angle information and the speed information of the laser radar in each period of time obtained in the step (6), obtaining the attitude angle information and the speed information corresponding to each time t i;
7b) : according to the attitude angle information and the speed information of the laser radar at each moment obtained in the step 7 a), calculating the pose information of the laser radar at each moment t i under a world coordinate system by combining a dead reckoning method, wherein the pose information comprises the position of the laser radar, the movement direction of a trolley and the speed of the trolley;
(8) Allowing the trolley to continue to move to acquire point cloud data, repeatedly executing the steps (3) - (7), and if the movement states in the step 5 b) are inconsistent, starting point acquisition calculation from a state change point t v;
(9) And (3) converting the pose information of the laser radar into the pose information of the trolley according to the conversion matrix H l,c obtained in the step (1).
Further, the constant-speed computing algorithm in the step (6) specifically comprises the following steps:
When judging that the state is uniform linear motion, substituting { X 1,X2,X3}、{X5,X6,X7 } into the formula <2> in sequence to obtain coefficients of two groups of straight lines {a1,b1,a1ΔX+b1Δy},{a2,b2,a2Δx+b2Δy}：
Wherein a and b are linear coefficients representing a wall, and the time interval between two adjacent sampling points of the laser radar is set asWherein ω ji is the laser radar rotational angular velocity (ω ji units are °/s), (Δx, Δy) is the distance of the trolley moving at constant speed in Δt time:
substituting the formula <3> into { a 1Δx+b1Δy、a2Δx+b2 deltay }, the velocity v and the direction of motion θ are obtained.
Further, the uniform speed change calculation algorithm in step 5 a) and step (6) is specifically as follows:
When the judging state is uniform speed change, substituting { X 1,X2,X3,X4}、{X5,X6,X7,X8 } into the formula <4> in turn to obtain coefficients of two groups of straight lines {a1,b1,a1xchu,1+b1ychu,1,a1ΔX+b1Δy},{a2,b2,a1xchu,2+b1ychu,2,a2Δx+b2Δy}：
Wherein a and b are linear coefficients representing a wall, and each time four points are taken from the wall, the corresponding time t 1、t2、t3、t4 and time interval are setThe displacement distance (delta x, delta y) of the trolley in [ t 1,t2 ] is the variation of front-back displacement in equal time interval delta t when the trolley uniformly accelerates the linear motion, and the displacement formula is used for uniformly accelerating:
Wherein v 0 is the initial speed of the trolley at time t 1, g is acceleration, θ is the movement direction, v 0, g and θ are all unknown parameters, and v 0, g and θ are obtained by substituting {a1,b1,a1xchu,1+b1ychu,1,a1ΔX+b1Δy},{a2,b2,a1xchu,2+b1ychu,2,a2Δx+b2Δy}, with formula <5 >.
Further, the turning calculation algorithm in the step (6) specifically includes the following steps:
When the state is determined to be turning, according to the step 7 b), the position A (x a,ya) of the laser radar in the world coordinate system is obtained at the moment before turning, the movement direction theta of the trolley is recorded, the first point cloud data generated by the laser radar in the turning process is C (x ', y'), and the first point cloud data is converted into the world coordinate system
Where s is the angular velocity of the bogie turning, r is the turning radius,
The second point cloud data generated by the laser radar in the turning process is D (x ', y'), and is converted into a world coordinate system
The equation of the wall where the C point and the D point in the world system obtained by the step (1) are located is set as
cX+dY+1＝0<8>
Substituting the formula <6> and the formula <7> into the formula <8> respectively, a nonlinear equation set containing two unknown parameters is obtained, and s and r are obtained.
Another object of the present invention is to provide a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
Basic environment information and relative position information of the trolley when the trolley is stationary are acquired;
acquiring point cloud data during trolley movement, and calculating a time stamp;
judging the motion state of the trolley according to the acquired information;
Carrying out different processing on the obtained data according to the judged motion state to obtain attitude angle information of the laser radar;
According to the attitude angle information, calculating pose information of the laser radar under a world coordinate system;
Repeatedly executing the point cloud data when the trolley moves, and calculating a time stamp; judging the motion state of the trolley according to the acquired information; carrying out different processing on the obtained data according to the judged motion state to obtain attitude angle information of the laser radar; according to the attitude angle information, calculating the pose information of the laser radar under the world coordinate system until the movement stops;
and according to the obtained basic information, converting the pose information of the laser radar into the pose information of the trolley.
It is a further object of the present invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
Basic environment information and relative position information of the trolley when the trolley is stationary are acquired;
acquiring point cloud data during trolley movement, and calculating a time stamp;
judging the motion state of the trolley according to the acquired information;
Carrying out different processing on the obtained data according to the judged motion state to obtain attitude angle information of the laser radar;
According to the attitude angle information, calculating pose information of the laser radar under a world coordinate system;
Repeatedly executing the point cloud data when the trolley moves, and calculating a time stamp; judging the motion state of the trolley according to the acquired information; carrying out different processing on the obtained data according to the judged motion state to obtain attitude angle information of the laser radar; according to the attitude angle information, calculating the pose information of the laser radar under the world coordinate system until the movement stops;
and according to the obtained basic information, converting the pose information of the laser radar into the pose information of the trolley.
Another object of the present invention is to provide an indoor dolly speed measuring and positioning system for operating the indoor dolly speed measuring and positioning method, the indoor dolly speed measuring and positioning system comprising:
the information acquisition module is used for acquiring basic environment information and relative position information when the trolley is stationary;
The time stamp calculation module is used for acquiring point cloud data during trolley movement and calculating a time stamp;
the motion state judging module is used for judging the motion state of the trolley according to the acquired information;
the laser radar information acquisition module is used for carrying out different processing on the obtained data according to the judged motion state to obtain the attitude angle information of the laser radar;
The first pose information calculation module is used for calculating pose information of the laser radar under a world coordinate system according to the pose angle information;
And the second pose information calculation module is used for converting the pose information of the laser radar into the pose information of the trolley according to the obtained basic information.
Another object of the present invention is to provide an indoor positioning system, which is provided with the indoor trolley speed measuring and positioning system.
Another object of the present invention is to provide a robot having the indoor trolley speed measuring and positioning system mounted thereon.
By combining all the technical schemes, the invention has the advantages and positive effects that: when the trolley is in different motion states, the small change of the point cloud data acquired by the laser radar is necessarily caused, and an equation set is established according to the small change and the motion states, so that the speed, the acceleration and other information of the trolley can be obtained, and the positioning is realized.
According to the invention, the device is divided into a static state, a uniform linear motion state, a uniform acceleration linear motion state, a uniform deceleration linear motion state and a turning state according to different motion states, thereby not only conforming to the motion condition of an actual trolley, but also being more convenient for obtaining higher speed measurement and positioning precision; the speed of the trolley can be accurately measured only by the 2D laser radar, and high-precision positioning can be realized on the basis. The cost is low, and the universality is strong; the method is simple and efficient, and can realize real-time speed measurement and positioning.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for measuring and positioning an indoor trolley according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of an indoor trolley speed measurement and positioning system according to an embodiment of the present invention;
in fig. 2: 1. an information acquisition module; 2.a time stamp calculation module; 3. a motion state judging module; 4. the laser radar information acquisition module; 5. a first pose information calculation module; 6. and a second pose information calculation module.
Fig. 3 is a flowchart of an implementation of the method for measuring and positioning the speed of the indoor trolley according to the embodiment of the invention.
FIG. 4 is a schematic diagram of a trolley resting against a wall at an initial time provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of a turning state provided by an embodiment of the present invention.
Fig. 6 is a positioning and mapping effect diagram according to the obtained point cloud data provided by the embodiment of the invention.
Fig. 7 is a graph of the result of measuring positioning errors by taking 20 positioning points for each of the uniform-speed straight line, uniform-speed turning and uniform-acceleration straight line movement parts according to the embodiment of the invention.
Fig. 8 is a graph of the result of measuring speed error and movement direction error at 10 points for a uniform linear portion provided by an embodiment of the present invention.
Fig. 9 is a graph of the result of measuring speed error, acceleration error and movement direction error at 10 points for a uniformly accelerated linear motion portion provided in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention 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 invention.
Aiming at the problems existing in the prior art, the invention provides a speed measuring and positioning method for an indoor trolley, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the method for measuring and positioning the speed of the indoor trolley provided by the invention comprises the following steps:
S101: basic environment information and relative position information of the trolley when the trolley is stationary are acquired;
s102: acquiring point cloud data during trolley movement, and calculating a time stamp;
s103: judging the motion state of the trolley according to the information acquired in the step S102;
s104: according to the motion state judged in the step S103, carrying out different processing on the data obtained in the step S102 to obtain information such as attitude angle and the like of the laser radar;
S105: according to the information of the attitude angle and the like, calculating the pose information of the laser radar under a world coordinate system;
S106: repeating S102-S105 until the movement stops;
s107: and according to the basic information obtained in the step S101, converting the pose information of the laser radar into the pose information of the trolley.
Other steps may be performed by those skilled in the art of the method for measuring and positioning an indoor trolley according to the present invention, and the method for measuring and positioning an indoor trolley according to the present invention shown in fig. 1 is merely a specific embodiment.
As shown in fig. 2, the indoor trolley speed measuring and positioning system provided by the invention comprises:
The information acquisition module 1 is used for acquiring basic environment information and relative position information when the trolley is stationary;
The time stamp calculation module 2 is used for acquiring point cloud data during trolley movement and calculating a time stamp;
the motion state judging module 3 is used for judging the motion state of the trolley according to the acquired information;
The laser radar information acquisition module 4 is used for carrying out different processing on the obtained data according to the judged motion state to obtain information such as attitude angle of the laser radar;
The first pose information calculation module 5 is used for calculating pose information of the laser radar under a world coordinate system according to information such as a pose angle and the like;
and the second pose information calculation module 6 is used for converting the pose information of the laser radar into the pose information of the trolley according to the obtained basic information.
The technical scheme of the invention is further described below with reference to the accompanying drawings.
As shown in fig. 3, the method for measuring and positioning the speed of the indoor trolley provided by the invention comprises the following steps:
step one, fixing a laser radar on a trolley, and acquiring point cloud data when the trolley is stationary.
The single-line laser radar is fixed on the trolley, the trolley moves in an open room, the trolley is firstly made to rest against any wall, and point cloud data of one circle of rotation of the laser radar are acquired as shown in fig. 4.
The absence means that other objects do not interfere with radar imaging; the fixation adopts a mode of screw fixation and welding fixation, the firmness is not influenced by the movement of the platform, and the relative position information such as the distance and the pose between the fixed laser radar and the center of the trolley is not changed any more; the single-line laser radar outputs data without few points and multiple points, and the data accuracy is below millimeter level.
And step two, processing the data acquired when the trolley is stationary, establishing an environment map, and acquiring a linear equation of each wall and relative position information of the laser radar and the trolley.
At the starting time of the laser radar, taking the direction pointed by the laser beam as an x-axis, taking the center of the laser radar as an origin, establishing a world coordinate system, fitting the point cloud data scanned to each wall by using a straight line under the world coordinate system, obtaining a straight line equation of each wall, and further establishing an environment map;
Establishing a trolley coordinate system o cxcyc and a laser radar coordinate system o lxlyl, wherein the trolley coordinate system takes the center of the trolley as an origin, the right front of the trolley as a y axis, the radar coordinate system takes the center of the radar as the origin at all times, the direction pointed by a laser beam at the time of starting the laser radar as an x axis, according to point cloud data obtained when the trolley is stationary, the corresponding angle is alpha when the distance is shortest, the laser beam is perpendicular to a wall at the moment, according to the relation, the rotation angle difference between the radar coordinate system and the trolley coordinate system is obtained, the displacement difference is measured through a tape measure, and then a conversion matrix H l,c of the laser radar coordinate system and the trolley coordinate system is established;
And thirdly, enabling the trolley to move, wherein the movement state of the trolley can be changed among uniform linear movement, uniform speed change linear movement, uniform speed turning and static state, and obtaining point cloud data (x i,yi) during movement of the trolley.
Judging the initial data point scanned to each wall, and the turning starting point and the turning ending point according to the point cloud data obtained when the trolley moves, wherein the method comprises the following steps of:
4.1): obtaining a time stamp t i corresponding to each point cloud data (x i,yi) according to the rotation angular velocity of the laser radar;
4.2): the absolute value theta 2,i of the inclination angle difference between every two point cloud data (x i,yi) obtained when the trolley moves is calculated according to the formula <1>,
When θ 2,i＞ε1∩θ2,i-1＜ε1, where ε 1 is a preset threshold value related to the two-sided wall angle, then i is taken as the starting data point for the other wall swept;
4.3): on the basis of the absolute value of the tilt angle difference obtained in 4.2), θ 3,i＝θ2,i-θ2,i-1 is calculated, if the following conditions are simultaneously true:
A).θ3,i＞ε4∩θ3,i＜ε5；
B).θ3,i-1＜ε4；
Where ε 4、ε5 is a preset threshold value related to the turning of the cart, i is taken as the turning start point. If the following conditions are simultaneously satisfied:
A).θ3,i＞-ε5∩θ3,i＜-ε4；
B).θ3,i-1＞-ε4；
Taking i as a turning end point, and marking the state of the trolley as uniform turning motion for points after the turning start point and before the turning end point;
Step five, judging other motion states of the trolley except for uniform turning in a sectioning way, including static, uniform linear motion, uniform acceleration linear motion and uniform deceleration linear motion, wherein the method comprises the following specific steps:
5.1): according to the initial data point of each wall obtained in 4.1), for points outside the uniform turning motion state, on the two walls which are judged in sequence, four continuous points { X 1,X2,X3,X4}、{X5,X6,X7,X8 } are respectively substituted into a uniform speed change calculation formula to obtain a group of state quantities, namely speed, acceleration and motion direction (v 1,a1,θ1), the process is repeated to obtain another group of state quantities (v 2,a2,θ2), and the motion state is obtained by comparing the two groups of state quantities on the assumption that the calculation process involves point cloud data in [ t p,tq ] time, wherein the specific rules are as follows:
a) If v 1＜δ1∩v2＜δ1 is true, marking the state of the trolley as stationary in the time of [ t p,tq ];
B) If |v 1-v2|＜δ2∩a1＜δ3∩a2＜δ3 is met, marking the state of the trolley as uniform linear motion in the time of [ t p,tq ];
C) If the absolute value a 1-a2|＜δ4 is met, marking the state of the trolley as uniform speed-changing linear motion in the time of [ t p,tq ];
Where δ i (i=1, 2,3, 4) is a preset threshold close to 0.
5.2): Repeating the step 5.1), sequentially obtaining two motion states R and Q, assuming that the operation process involves point cloud data in [ t p,tw ] time, if R=Q, the motion state is unchanged, if R is not equal to Q, sequentially calculating the point cloud data to be output by the radar at the next moment according to the position of the laser radar at the moment t p and the motion state, comparing the point cloud data with the point cloud to be output actually, and if the phase difference is larger, changing the state, thereby obtaining an accurate state change point t v. For points between [ t p,tv ], the label state is R;
step six, carrying out different processing on the point cloud data according to different marking states, wherein the method comprises the following specific steps:
When the marking state is uniform linear motion, substituting the point cloud data in the corresponding time into a uniform computing algorithm, namely:
And substituting { X 1,X2,X3}、{X5,X6,X7 } into the formula <2> respectively in turn to obtain coefficients of two groups of straight lines {a1,b1,a1Δx+b1Δy},{a2,b2,a2Δx+b2Δy}：
Wherein a and b are linear coefficients representing a wall, and the time interval of rotation of the laser radar by beta DEG is set as Wherein ω ji is the laser radar rotational angular velocity (ω ji units are °/s), (Δx, Δy) is the distance of the trolley moving at constant speed in Δt time:
substituting the formula <3> into { a 1Δx+b1Δy、a2Δx+b2 deltay }, the velocity v and the direction of motion θ are obtained.
When the marking state is uniform speed-change linear motion, substituting the point cloud data in the corresponding time into a uniform speed-change calculation algorithm, namely:
and substituting { X 1,X2,X3,x4}、{X5,X6,X7,X8 } into the formula <4> in turn to obtain coefficients of two groups of straight lines:
{a1,b1,a1Xchu,1+b1ychu,1,a1Δx+b1Δy},{a2,b2,a1Xchu,2+b1ychu,2,a2Δx+b2Δy}：
Wherein a and b are linear coefficients representing a wall, and when four continuous points are set on the wall, the corresponding time t 1、t2、t3、t4 and time interval are set (X chu,ychu) is the displacement distance of the trolley in the time of [ t 1,t2 ], (Deltax, deltay) is the variation of the displacement before and after the uniform acceleration of the linear motion at the same time interval Deltat, and the displacement formula of the uniform acceleration is used:
wherein v 0 is the initial speed of the trolley at time t 1, g is acceleration, θ is the movement direction, v 0, g and θ are all unknown parameters, and v 0, g and θ are obtained by substituting {a1,b1,a1Xchu,1+b1ychu,1,a1Δx+b1Δy},{a2,b2,a1xchu,2+b1ychu,2,a2Δx+b2Δy}, with formula <5 >.
When the marking state is uniform turning movement, substituting the point cloud data in the corresponding time into a turning calculation algorithm, namely:
When the state is determined to be turning, according to 7.2), obtaining the position A (x a,ya) of the laser radar in the world coordinate system at the moment before turning, recording the moving direction theta of the trolley, and converting the first point cloud data generated by the laser radar in the turning process into the following data in the world coordinate system:
Wherein s is the turning angular speed of the trolley, r is the turning radius, the second point cloud data generated by the laser radar in the turning process is D (x ', y'), and the conversion to the world coordinate system is as follows:
the equations of the walls of the points C and D in the world system obtained through the step two are set as follows:
cX+dY+1＝0<8>
Substituting the formula <6> and the formula <7> into the formula <8> respectively, a nonlinear equation set containing two unknown parameters is obtained, and s and r are obtained.
Step seven, pose information of the laser radar in a world coordinate system is acquired, and the specific steps are as follows:
7.1): according to the attitude angle information and the speed information of the laser radar in each period of time obtained in the step six, attitude angle information and speed information corresponding to each time t i are obtained;
when the trolley moves linearly at a uniform speed, gamma and theta at each moment are unchanged, the acceleration and g=0m/s 2;
When the trolley moves linearly at uniform speed change, g and theta at each moment are unchanged, and the speed can be obtained according to a speed formula v=v 0 +gt of uniform speed change, wherein t is the time difference from each moment to t1 in the moving process;
The speed at each moment is that when the trolley makes uniform turning movement The direction of movement can be recursively derived from θ=θ+st, where t is the time difference from each moment during the movement to the moment immediately before the turn.
7.2): According to the attitude angle information and the speed information of the laser radar at each moment, which are obtained in the step 7.1), calculating the pose information of the laser radar at each moment t i under a world coordinate system by combining a dead reckoning method, wherein the pose information comprises the position of the laser radar, the movement direction of a trolley and the speed of the trolley;
Step eight, enabling the trolley to continue to move to acquire point cloud data, repeatedly executing the steps three to seven, and if the movement states in the step 5.2) are inconsistent, starting point taking calculation from a state change point t v;
And step nine, converting pose information of the laser radar into pose information of the trolley according to the conversion matrix H l,c obtained in the step two.
The technical effects of the present invention will be described in detail with reference to experiments.
According to the invention, an indoor positioning experiment is designed according to the requirement, so that the trolley moves in a room with the speed of 12m and 10m, the radar rotation speed is 3600 degrees/s, the rotation angle difference between the trolley coordinate system and the laser radar coordinate system is 0 degrees, and the displacement difference is (0, 0 m). Firstly, the trolley is made to do uniform linear motion, the trolley starts from 1/2 of the indoor length and 1/4 of the indoor width, the speed of the trolley is 3m/s, and the included angle between the motion direction and the horizontal right direction is 150 degrees; then the speed is kept unchanged, uniform turning motion is carried out, and the turning angular speed of the trolley is 360 degrees/s; finally, the linear motion is uniformly accelerated, and the acceleration is 1m/s 2.
According to the obtained point cloud data, the positioning and mapping effects are as follows, the rectangle of the periphery is the initial map established, the middle point is the positioning result, and each time the laser radar outputs one data, the predicted trolley position corresponds to the predicted trolley position in fig. 5.
The positioning errors are measured by taking 20 positioning points for the uniform-speed straight line, uniform-speed turning and uniform acceleration straight line movement parts respectively, and the result is shown in the following figure 6, and the overall positioning error is not more than 1 millimeter as seen from the upper figure.
For the straight line portion at constant speed, the speed error and the movement direction error were measured at 10 points, and as a result, fig. 7 is as follows, and as can be seen from the above graph, both the speed error and the movement direction error are very small, which substantially coincides with the theoretical values.
For the uniform acceleration linear motion portion, the speed error, the acceleration error, and the movement direction error were measured at 10 points, and as a result, fig. 8 is as follows, and as can be seen from the above figures, the error of the uniform acceleration linear motion portion is larger than that of the uniform acceleration linear motion portion, but the error remains low as a whole.
For uniform turning movement, the calculated trolley turning angular speed error is 6.132×10 -13 °/s and the turning radius error is 9.85906816×10 -13 meters, so that the speed error and the movement direction error calculated according to the trolley turning angular speed and the turning radius are kept at a low level as a whole.
It should be noted that the embodiments of the present invention can be realized in hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or special purpose design hardware. Those of ordinary skill in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such as provided on a carrier medium such as a magnetic disk, CD or DVD-ROM, a programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The device of the present invention and its modules may be implemented by hardware circuitry, such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., as well as software executed by various types of processors, or by a combination of the above hardware circuitry and software, such as firmware.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention.
Claims (9)
1. The method for measuring and positioning the speed of the indoor trolley is characterized by comprising the following steps of:
Basic environment information and relative position information of the trolley when the trolley is stationary are acquired;
acquiring point cloud data during trolley movement, and calculating a time stamp;
judging the motion state of the trolley according to the acquired information;
Carrying out different processing on the obtained data according to the judged motion state to obtain attitude angle information of the laser radar;
according to the information of the attitude angle and the like, calculating the pose information of the laser radar under a world coordinate system;
Repeatedly executing the point cloud data when the trolley moves, and calculating a time stamp; judging the motion state of the trolley according to the acquired information; according to the judged motion state, carrying out different processing on the obtained data to obtain information such as attitude angle and the like of the laser radar; according to the attitude angle information, calculating the pose information of the laser radar under the world coordinate system until the movement stops;
according to the obtained basic information, converting the pose information of the laser radar into pose information of the trolley;
the speed measurement and positioning method of the indoor trolley further comprises the following steps:
The method comprises the steps that firstly, a trolley is static near a wall, a 2D laser radar installed above the trolley rotates for one circle to obtain point cloud data, the point cloud data comprise distances and angles, at the starting moment of the laser radar, the direction pointed by a laser beam is taken as an x axis, the center of the laser radar is taken as an origin, a world coordinate system is established, the point cloud data swept to each wall are fitted by straight lines under the world coordinate system, a straight line equation of the wall is obtained, and an environment map is established;
secondly, establishing a trolley coordinate system o cxcyc and a laser radar coordinate system o lxlyl, and according to the point cloud data obtained in the first step, assuming that the distance is shortest, the corresponding angle is alpha, further obtaining a rotation angle difference between the radar coordinate system and the trolley coordinate system, measuring the displacement difference through a tape measure, and establishing a conversion matrix H l,c of the laser radar coordinate system and the trolley coordinate system;
Thirdly, acquiring point cloud data (x i,yi) during trolley movement, and acquiring a time stamp t i corresponding to each point cloud data (x i,yi) according to the rotation angular velocity of the laser radar;
Fourth, according to the point cloud data obtained in the third step, judging the initial data point scanned to each wall, and the turning starting point and the turning ending point, wherein the method specifically comprises the following steps:
1): calculating absolute values theta 2,i of the inclination angle differences between the point cloud data (x i,yi) obtained in the third step:
When θ 2,i＞ε1∩θ2,i-1＜ε1, where ε 1 is a preset threshold value related to the two-sided wall angle, then i is taken as the starting data point for the other wall swept;
2): on the basis of the absolute value of the tilt angle difference obtained in 1), θ 3,i＝θ2,i-θ2,i-1 is calculated, if the following conditions are simultaneously satisfied:
A)θ3,i＞ε4∩θ3,i＜ε5；
B)θ3,i-1＜ε4；
wherein epsilon 4、ε5 represents a preset threshold value related to turning of the trolley, taking i as a turning starting point, and if the following conditions are simultaneously met:
A)θ3,i＞-ε5∩θ3,i＜-ε4；
B)θ3,I-1＞-ε4；
taking i as a turning end point, and marking the state of the trolley as uniform turning for points after the turning start point and before the turning end point;
And fifthly, judging other motion states in a segmented mode according to the point cloud data acquired in the third step, wherein the motion states comprise static, uniform-speed linear motion, uniform-acceleration linear motion and uniform-deceleration linear motion, and the specific steps are as follows:
1): according to the obtained initial data points of each wall, for points outside the uniform turning motion state, four continuous points { X 1,X2,X3,X4}、{X5,X6,X7,X8 } are respectively taken on the two walls which are judged in sequence, and are substituted into a uniform speed change calculation formula to obtain a group of state quantities, namely speed, acceleration and motion direction (v 1,a1,θ1), the process is repeated to obtain another group of state quantities (v 2,a2,θ2), and the motion state is obtained by comparing the two groups of state quantities on the assumption that the calculation process involves point cloud data in [ t p,tq ] time, wherein the specific rules are as follows:
a) If v 1＜δ1∩v2＜δ1 is true, marking the state of the trolley as stationary in the time of [ t p,tq ];
B) If |v 1-v2|＜δ2∩a1＜δ3∩a2＜δ3 is met, marking the state of the trolley as uniform linear motion in the time of [ t p,tq ];
C) If the absolute value a 1-a2|＜δ4 is met, marking the state of the trolley as uniform speed-changing linear motion in the time of [ t p,tq ]; wherein δ i (i=1, 2,3, 4) is a preset threshold close to 0;
2): repeating 1) to sequentially obtain two motion states R and Q, wherein the operation process involves point cloud data in [ t p,tw ] time, if R=Q, the motion state is unchanged, if R is not equal to Q, according to the position of the laser radar at the moment t p, the motion state sequentially calculates the point cloud data to be output by the radar at the next moment, compares the point cloud data with the actually output point cloud, changes the state if the phase difference is larger, further obtains an accurate state change point t v, and marks the state as R for the points between [ t p,tv ];
And sixthly, carrying out different processing on the point cloud data according to different marking states in the fourth step and the fifth step, wherein the method comprises the following specific steps:
Substituting the point cloud data in the corresponding time into a uniform computing algorithm when the marking state is uniform linear motion;
when the marking state is uniform speed-change linear motion, substituting point cloud data in corresponding time into a uniform speed-change calculation algorithm;
Substituting the point cloud data in the corresponding time into a turning calculation algorithm when the marking state is uniform turning movement;
seventh, according to the information such as the attitude angle obtained in the sixth step, pose information of the laser radar in a world coordinate system is obtained, and the specific steps are as follows:
1): according to the attitude angle information and the speed information of the laser radar in each period of time obtained in the sixth step, attitude angle information and speed information corresponding to each time t i are obtained;
2): according to the attitude angle information and the speed information of the laser radar at each moment, which are obtained in the step 1), and by combining a dead reckoning method, calculating the pose information of the laser radar at each moment t i under a world coordinate system, wherein the pose information comprises the position of the laser radar, the movement direction of a trolley and the speed of the trolley;
eighth, the trolley is allowed to continue to move to acquire point cloud data, the third step to the seventh step are repeatedly executed, and if the steps are
5B) If the motion states of the two motion states are inconsistent, starting point taking calculation from a state change point t v;
And a ninth step of converting the pose information of the laser radar into the pose information of the trolley according to the conversion matrix H l,c obtained in the first step.
2. The method for measuring and positioning the speed of the indoor trolley according to claim 1, wherein the sixth step of the calculation algorithm at a uniform speed comprises the following steps: when judging that the state is uniform linear motion, substituting { X 1,X2,X3}、{X5,X6,X7 } into the formula respectively to obtain coefficients of two groups of lines {a1,b1,α1Δx+b1Δy},{a2,b2,a2Δx+b2Δy}：
Wherein a and b are linear coefficients representing a wall, and the time interval between two adjacent sampling points of the laser radar is set asWherein ω ji is the laser radar rotation angular velocity, ω ji is in units of °/s, (Δx, Δy) is the distance of the trolley moving at constant speed in Δt time:
Substituting the formula into { a 1Δx+b1Δy、a2Δx+b2 Δy } results in a velocity v and a direction of motion θ.
3. The method for measuring and positioning the speed of the indoor trolley according to claim 1, wherein the algorithm for calculating the speed change in the fifth step and the sixth step is specifically as follows:
When the judging state is uniform speed change, substituting { X 1,X2,X3,X4}、{X5,X6,X7,X8 } into the formula respectively to obtain coefficients of two groups of straight lines {α1,b1,a1xchu,1+b1ychu,1,a1Δx+b1Δy},{a2,b2,a1xchu,2+b1ychu,2,a2Δx+b2Δy}：
Wherein a and b are linear coefficients representing a wall, and each time four points are taken from the wall, the corresponding time t 1、t2、t3、t4 and time interval are setThe displacement distance (delta x, delta y) of the trolley in [ t 1,t2 ] is the variation of front-back displacement in equal time interval delta t when the trolley uniformly accelerates the linear motion, and the displacement formula is used for uniformly accelerating:
Wherein v 0 is the initial speed of the trolley at the moment t 1, g is acceleration, θ is the movement direction, v 0, g and θ are unknown parameters, and the formula is substituted into {a1,b1,a1xchu,1+b1ychu,1,a1Δx+b1Δy},{a2,b2,a1xchu,2+b1ychu,2,a2Δx+b2Δy}, to obtain v 0, g and θ.
4. The method for measuring and positioning the speed of the indoor trolley according to claim 1, wherein the algorithm for calculating the rotation in the sixth step is specifically as follows:
When the state is determined to be turning, according to the position A (x a,ya) of the laser radar in the world coordinate system at the moment before the turning is obtained, the moving direction theta of the trolley is recorded as C (x ', y'), and the first point cloud data generated by the laser radar in the turning process is converted into the following data in the world coordinate system:
Wherein s is the turning angular speed of the trolley, r is the turning radius, the second point cloud data generated by the laser radar in the turning process is D (x ', y'), and the conversion to the world coordinate system is as follows:
Let the equations of the wall where the C point and the D point are located in the acquired world system be:
cX+dY+1＝0；
respectively apply the formulas to Sum formulaSubstituting the formula cx+dy+1=0, a nonlinear equation set containing two unknown parameters is obtained, and s and r are obtained.
5. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, causes the processor to perform the steps of the method for measuring and locating an indoor trolley according to any one of claims 1-4.
6. A computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the method of indoor trolley speed measurement and positioning as claimed in any one of claims 1 to 4.
7. An indoor trolley speed measurement and system for operating the indoor trolley speed measurement and positioning method of any one of claims 1-4, wherein the indoor trolley speed measurement and positioning system comprises:
the information acquisition module is used for acquiring basic environment information and relative position information when the trolley is stationary;
The time stamp calculation module is used for acquiring point cloud data during trolley movement and calculating a time stamp;
the motion state judging module is used for judging the motion state of the trolley according to the acquired information;
the laser radar information acquisition module is used for carrying out different processing on the obtained data according to the judged motion state to obtain the attitude angle information of the laser radar;
The first pose information calculation module is used for calculating pose information of the laser radar under a world coordinate system according to the pose angle information;
And the second pose information calculation module is used for converting the pose information of the laser radar into the pose information of the trolley according to the obtained basic information.
8. An indoor positioning system, wherein the indoor positioning system is provided with the indoor trolley speed measuring and positioning system of claim 7.
9. A robot having the indoor trolley speed measurement and positioning system of claim 7 mounted thereto.
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| CN111240331A (en) * | 2020-01-17 | 2020-06-05 | 仲恺农业工程学院 | Intelligent trolley positioning and navigation method and system based on laser radar and odometer SLAM |
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| CN111240331A (en) * | 2020-01-17 | 2020-06-05 | 仲恺农业工程学院 | Intelligent trolley positioning and navigation method and system based on laser radar and odometer SLAM |
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