CN112285725A - Indoor positioning method of single mobile robot based on laser radar - Google Patents
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Abstract
The invention discloses a single-mobile-robot indoor positioning method based on a laser radar. The upper layer controller plans an indoor moving path for a laser radar-loaded mobile robot and controls the laser radar-loaded mobile robot to move to a path starting point. The mobile robot establishes a global coordinate system at an original point, scans the reflectors in the position detection range, calculates the global coordinates of the reflectors, scans the reflectors in the position detection range at the next moment, calculates the global coordinates of the reflectors in the detection range, repeats the steps at each moment in sequence until the mobile robot moves to the end point of the specified path, and processes all recorded global coordinates of the reflectors. The method has high flexibility, can effectively solve the problem of low indoor positioning precision, is simple to implement and has very good applicability.
Description
Technical Field
The invention belongs to the technical field of indoor positioning, and particularly relates to a single-mobile-robot indoor positioning method based on a laser radar.
Background
In the related field of robot application, unknown indoor scene information is of great importance, and the information of the indoor environment acquired by the reflector is of great help to the robot to execute tasks next.
In an indoor environment, a mobile robot equipped with a GPS also cannot solve the indoor positioning problem well because the positioning accuracy of the GPS is affected in the indoor environment. The distance and angle information is the most common measurement information in environmental perception, and the research on the positioning algorithm using the distance and angle information has important practical significance in the field of indoor positioning. Distance and angle information can be accurately measured using a laser radar. The laser radar is a radar system which emits laser beams to detect characteristic quantities of a target such as position, speed and the like, and the working principle of the radar system is to emit detection signals (laser beams) to the target, then compare the received signals (target echoes) reflected from the target with the emission signals, and obtain relevant information of the target after proper processing, such as parameters of target distance, direction, height, speed, attitude, even shape and the like, so as to detect. The laser changes the electric pulse into optical pulse and emits it, and the optical receiver restores the reflected optical pulse from the target into electric pulse and sends it to the display.
The mobile robot can acquire the distance and angle information of the indoor reflector by means of the laser radar, so that the information of the indoor environment is acquired, and subsequent tasks can be conveniently carried out.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a single-mobile-robot indoor positioning method based on a laser radar, which aims at a mobile robot which is not provided with a GPS (global positioning system), and controls the mobile robot to move indoors to obtain the global coordinate of an indoor reflector so as to obtain the information of the indoor environment.
The invention is realized by the following technical scheme: a single mobile robot indoor positioning method based on laser radar comprises the following steps:
step 1: the upper controller plans the moving path in the room for a laser radar-loaded mobile robot and controls the robot to move toStarting the path, moving the robot along the specified path, stopping the movement at the end point of the path, and setting the starting time of the movement as t0The end time is tnAnd the current time is t, t e [ t ∈ [ t ]0,tn]；
Step 2: at t ═ t0At the moment, the mobile robot establishes a local coordinate system by taking a motion starting point, namely a path starting point, as an origin, sets the local coordinate system as a global coordinate system, simultaneously scans the reflectors in the position detection range where the mobile robot is positioned, and calculates to obtain global coordinates of the mobile robot and the reflectors;
and step 3: at t ≠ t0At the moment, the mobile robot scans the reflector in the position detection range, and the current global coordinate of the mobile robot is calculated according to the measurement information obtained by repeatedly scanning the reflector at the moment t and the moment t-1;
and 4, step 4: after the mobile robot obtains the self global coordinate at the moment t, further obtaining a translation matrix between a global coordinate system and a current local coordinate system, and calculating a rotation matrix between the global coordinate system and the current local coordinate system;
and 5: the mobile robot firstly calculates the local coordinates of the reflector within the detection range at the moment t, then obtains the global coordinates of the reflector through rotation and translation transformation, and records the obtained coordinates of the reflector when the coordinates of the same reflector are repeatedly calculated;
step 6: and repeating the steps at the next moment until the mobile robot moves to the end point of the specified path, stopping moving and scanning, and processing the recorded global coordinates of all the reflectors so as to correct the global coordinates of the indoor reflectors.
Further, in step 1, the upper controller plans a path of the mobile robot, which specifically includes the following contents:
the upper controller plans an indoor moving path for the mobile robot, and sets the motion starting time as t0The end time is tnAnd the current time is t, t e [ t ∈ [ t ]0,tn]At t ≠ t0The same reflector detected at time, t-1 and tThe number of the reflectors is at least two, the same reflectors detected at the time t-1 and the time t must be identified, in order to guarantee that the two conditions are met, before the upper-layer controller plans a motion path for the mobile robot, the positions of the indoor reflectors must meet certain requirements, namely the indoor reflectors cannot be placed too densely or too sparsely, the distance between any two reflectors is larger than 0.1L and smaller than 0.3L, and L is the detection distance of the laser radar loaded on the mobile robot.
Further, in step 1, the mobile robot establishes a local coordinate system, which specifically includes the following:
the mobile robot takes the self position as the origin, the pose orientation is the positive direction of an x axis, the anticlockwise rotation by 90 degrees is the positive direction of a y axis, a local coordinate system is established, and the local coordinate system is reestablished once when each pair of reflectors in the position detection range are scanned once.
Further, in step 1, the mobile robot numbers the detected light reflecting plate, which specifically includes the following contents:
the mobile robot scans the surrounding environment at the position of the mobile robot by means of the laser radar, and when the reflector is detected, the reflector is sequentially numbered as 1,2,3 and 4 … according to the detected time sequence.
Further, in step 3, the mobile robot calculates its own global coordinate formula as follows:
wherein (x)j,yj),(xk,yk) J and k are coordinates of the mobile robot under the global coordinate system, j and k are two reflectors which can be detected by the mobile robot at the time t-1 and the time t, and dj,dkJ, k and the distance of the mobile robot, and the distance can be obtained when solving the equation setAnd two solutions, namely, removing an error solution according to the known moving speed V of the mobile robot to obtain the global coordinate P (t) of the mobile robot.
Further, in step 4, the mobile robot calculates the translation matrix B and the rotation matrix a between the global coordinate system and the current local coordinate system as follows:
the mobile robot firstly calculates a translation matrix B between a global coordinate system and a current local coordinate system, wherein B is a 2 x 1 matrix, the first row of B is the x value of P (t), namely the x-axis component of the global coordinate of the mobile robot, the second row of B is the y value of P (t), namely the y-axis component of the global coordinate of the mobile robot, two reflectors which can be detected at the t-1 moment and the t moment are selected and are regarded as j and k, and the global coordinates P of the reflectors are regarded as j and kj g、
And local coordinates P at time tj(t)、Pk(t) writing in vector form, respectively vj,vk,wj,wkA rotation matrix A is calculated from these vectors, and [ v ] is determined before calculation of the rotation matrix Aj-B vk-B]The reversibility of (c) is that whether the mobile robot and the reflector j, k are on the same straight line at the current time t is judged, if [ v [ [ v ]j-B vk-B]And if the rotation matrix A is irreversible, not calculating, discarding all the reflector data detected at the current moment by the mobile robot, and otherwise, calculating the rotation matrix A by adopting the following formula:
A＝[wj wk]×[vj-B vk-B]-1。
further, in step 5, the mobile robot first calculates local coordinates of the reflector detected at time t, and then calculates global coordinates of the reflector through rotation and translation transformation, where the formula is as follows:
Pi g(t)＝A-1×Pi(t)+B
wherein, Pi g(t) is the global coordinate of the reflector i, Pi(t) is the local coordinate of the reflector i at time t, i ∈ N (t), and N (t) is the movementAnd (4) collecting the reflectors within the detection range of the robot at the moment t.
Further, in step 6, the processing of the global coordinate of the indoor reflector by the mobile robot specifically includes the following steps:
the mobile robot firstly excludes some abnormal reflector coordinates obtained by calculation, namely obvious large or small values caused by calculation errors, and then averages global coordinates obtained by multiple calculations of the same reflector to reduce errors, so that the global coordinates of the indoor reflector are corrected.
The invention has the beneficial effects that: the method positions the position of the indoor reflector by means of moving and scanning the mobile robot loaded with the laser radar indoors. Firstly, an indoor moving path is planned for the mobile robot by utilizing an upper layer controller, and the mobile robot is controlled to move to a path starting point. The mobile robot establishes a local coordinate system for an origin point by using a motion starting point, namely a path starting point, sets the local coordinate system as a global coordinate system, simultaneously scans the reflector in a detection range of the position of the mobile robot, calculates the global coordinates of the reflector, scans the surrounding environment of the position at the next moment, calculates the global coordinates of the mobile robot at a new moment, calculates the global coordinates of the reflector in the detection range, sequentially scans the surrounding environment of the position at each moment and calculates the global coordinates of the reflector, and corrects the global coordinates of the indoor reflector after moving to a specified path end point. The method has high flexibility, can effectively solve the problem of low indoor positioning precision, is simple to implement and has very good applicability.
Drawings
FIG. 1 is a flow chart of an indoor positioning method of a single mobile robot based on a laser radar;
fig. 2 is a schematic diagram of a moving path planned by an upper controller in a room for a mobile robot according to the method of the present invention, a five-pointed star is the mobile robot, a dotted line is the path planned by the upper controller for the mobile robot, a solid point is a locatable indoor reflector, and a hollow point is a non-locatable indoor reflector.
Detailed Description
In order to more specifically describe the present invention, the following detailed description is provided for the technical solution of the present invention with reference to the accompanying drawings and the specific embodiments.
As shown in fig. 1, the indoor positioning method for a single mobile robot based on a laser radar provided by the invention comprises the following steps:
step 1: the upper layer controller plans an indoor moving path for a laser radar-loaded mobile robot and controls the laser radar-loaded mobile robot to move to a path starting point, the mobile robot starts to move from the path starting point, moves along a specified path and stops moving at a path end point, and the movement starting time is set as t0The end time is tnAnd the current time is t, t e [ t ∈ [ t ]0,tn]；
Specifically, the process of the upper controller planning the moving path in the room for the mobile robot is as follows:
at t ≠ t0At the moment, the number of the same reflectors detected at the t-1 moment and the t moment is at least two, and meanwhile, the same reflectors detected at the t-1 moment and the t moment must be identified, in order to ensure that the two conditions are met, before an upper-layer controller plans a motion path for the mobile robot, the position of the indoor reflector must meet certain requirements, namely the indoor reflectors cannot be placed too densely and cannot be placed sparsely, the distance between any two reflectors is greater than 0.1L and less than 0.3L, L is the detection distance of a laser radar loaded on the mobile robot, as shown in figure 1, the mobile robot starts to move at an asterisk and moves along a dotted line, the point meeting the conditions is a solid point, namely the indoor reflector meeting the requirements, and the hollow point does not meet the requirements and cannot be located.
Step 2: at t ═ t0At the moment, the mobile robot establishes a local coordinate system by taking a motion starting point, namely a path starting point, as an origin, sets the local coordinate system as a global coordinate system, simultaneously scans a reflector in a position detection range where the mobile robot is positioned, acquires distance and angle information of the mobile robot by means of a laser radar, and calculates to obtain global coordinates of the mobile robot;
specifically, the method for establishing the local coordinate system by the mobile robot is as follows:
the mobile robot takes the self position as the origin, the pose orientation is the positive direction of an x axis, the anticlockwise rotation by 90 degrees is the positive direction of a y axis, a local coordinate system is established, each pair of reflectors in the position detection range of the mobile robot carries out scanning once to reestablish a local coordinate system, the local coordinate system is established for many times, and only one global coordinate system is provided.
Specifically, the mobile robot numbers the detected light reflecting plate, which specifically includes the following contents:
the mobile robot scans the surrounding environment of the position of the mobile robot by means of the laser radar, when the reflector is detected, the reflector is sequentially numbered as 1,2,3 and 4 … according to the detected time sequence, and preparation is made for calculating the global coordinate of the mobile robot, the translation and rotation matrix between the global coordinate system and the current local coordinate system.
And step 3: at t ≠ t0At the moment, namely the non-initial moment, the mobile robot scans the reflector in the position detection range, obtains the distance and angle information of the reflector by means of a laser radar, and calculates the current global coordinate of the mobile robot through the measurement information obtained by repeatedly scanning the reflector at the moment t and the moment t-1;
specifically, the mobile robot calculates its own global coordinate formula as follows:
wherein (x)j,yj),(xk,yk) J and k are coordinates of the mobile robot under the global coordinate system, j and k are two reflectors which can be detected by the mobile robot at the time t-1 and the time t, and dj,dkJ, k and the distance of the mobile robot, two solutions can be obtained when solving the equation set according to the known distance of the mobile robotAnd (4) removing an error solution from the moving speed V to obtain the global coordinate P (t) of the mobile robot.
And 4, step 4: the mobile robot obtains a self global coordinate at the time t, then obtains a translation matrix between a global coordinate system and a current local coordinate system, and calculates a rotation matrix between the global coordinate system and the current local coordinate system through measurement information obtained by repeatedly scanning a reflector at the time t and the time t-1;
specifically, the process of the mobile robot calculating the translation matrix B and the rotation matrix a between the global coordinate system and the current local coordinate system is as follows:
the mobile robot firstly calculates a translation matrix B between a global coordinate system and a current local coordinate system, wherein B is a 2 x 1 matrix, the first row of B is the x value of P (t), namely the x-axis component of the global coordinate of the mobile robot, the second row of B is the y value of P (t), namely the y-axis component of the global coordinate of the mobile robot, two reflectors which can be detected at the t-1 moment and the t moment are selected and are regarded as j and k, and the global coordinates P of the reflectors are regarded as j and kj g、
And local coordinates P at time tj(t)、Pk(t) writing in vector form, respectively vj,vk,wj,wkA rotation matrix A is calculated from these vectors, and [ v ] is determined before calculation of the rotation matrix Aj-B vk-B]The reversibility of (c) is that whether the mobile robot and the reflector j, k are on the same straight line at the current time t is judged, if [ v [ [ v ]j-B vk-B]And if the rotation matrix A is irreversible, not calculating, discarding all the reflector data detected at the current moment by the mobile robot, and otherwise, calculating the rotation matrix A by adopting the following formula:
A＝[wj wk]×[vj-B vk-B]-1。
and 5: the mobile robot firstly calculates the local coordinates of the reflector within the detection range at the moment t, then obtains the global coordinates of the reflector through rotation and translation transformation, and records the obtained coordinates of the reflector when the coordinates of the same reflector are repeatedly calculated;
specifically, the mobile robot obtains the distance and angle information of the reflector in the detection range by means of the laser radar at the moment t, firstly calculates the local coordinate of the detected reflector, then calculates the global coordinate of the reflector by rotation and translation transformation,
Pi g(t)＝A-1×Pi(t)+B
wherein, Pi g(t) is the global coordinate of the reflector i, PiAnd (t) is the local coordinate of the reflector i at the time t, i ∈ N (t), and N (t) is the set of reflectors in the detection range of the mobile robot at the time t.
Step 6: and repeating the steps at the next moment until the mobile robot moves to the end point of the specified path, stopping moving and scanning, and processing the recorded global coordinates of all the reflectors so as to correct the global coordinates of the indoor reflectors.
Specifically, the mobile robot moves to the end point of the specified path, stops moving, starts processing the recorded global coordinates of all the reflectors, firstly excludes some abnormal reflector coordinates obtained by calculation, namely obvious large or small values caused by abnormalities such as calculation errors, and then averages the global coordinates obtained by multiple calculations of the same reflector to reduce errors, thereby correcting the global coordinates of the indoor reflector.
Fig. 2 is a schematic diagram of a moving path planned by an upper controller in a room for a mobile robot according to the method of the present invention, a five-pointed star is the mobile robot, a dotted line is the path planned by the upper controller for the mobile robot, a solid point is a locatable indoor reflector, and a hollow point is a non-locatable indoor reflector.
The foregoing detailed description is presented to enable one of ordinary skill in the art to make and use the invention. It will be readily apparent to those skilled in the art that various modifications can be made to the foregoing and the generic principles described herein may be applied to other aspects without the use of the inventive faculty. Therefore, without departing from the technical principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications should also be construed as the scope of protection of the present invention.
Claims (8)
1. A single mobile robot indoor positioning method based on laser radar is characterized by comprising the following steps:
step 1: the upper layer controller plans an indoor moving path for a laser radar-loaded mobile robot and controls the laser radar-loaded mobile robot to move to a path starting point, the mobile robot starts to move from the path starting point, moves along a specified path and stops moving at a path end point, and the movement starting time is set as t0The end time is tnAnd the current time is t, t e [ t ∈ [ t ]0，tn]；
Step 2: at t ═ t0At the moment, the mobile robot establishes a local coordinate system by taking a motion starting point, namely a path starting point, as an origin, sets the local coordinate system as a global coordinate system, simultaneously scans the reflectors in the position detection range where the mobile robot is positioned, and calculates to obtain global coordinates of the mobile robot and the reflectors;
and step 3: at t ≠ t0At the moment, the mobile robot scans the reflector in the position detection range, and the current global coordinate of the mobile robot is calculated according to the measurement information obtained by repeatedly scanning the reflector at the moment t and the moment t-1;
and 4, step 4: after the mobile robot obtains the self global coordinate at the moment t, further obtaining a translation matrix between a global coordinate system and a current local coordinate system, and calculating a rotation matrix between the global coordinate system and the current local coordinate system;
and 5: the mobile robot firstly calculates the local coordinates of the reflector within the detection range at the moment t, then obtains the global coordinates of the reflector through rotation and translation transformation, and records the obtained coordinates of the reflector when the coordinates of the same reflector are repeatedly calculated;
step 6: and repeating the steps at the next moment until the mobile robot moves to the end point of the specified path, stopping moving and scanning, and processing the recorded global coordinates of all the reflectors so as to correct the global coordinates of the indoor reflectors.
2. The indoor positioning method for the single-mobile-robot based on the lidar according to claim 1, wherein the step 1 specifically comprises the following steps:
the upper controller plans an indoor moving path for the mobile robot, and sets the motion starting time as t0The end time is tnAnd the current time is t, t e [ t ∈ [ t ]0，tn]At t ≠ t0At the moment, the number of the same reflectors detected at the t-1 moment and the t moment is at least two, and the same reflectors detected at the t-1 moment and the t moment must be identified at the same time, in order to ensure that the two conditions are met, before the upper-layer controller plans a motion path for the mobile robot, the position of the indoor reflector must meet certain requirements, namely the indoor reflectors cannot be placed too densely and too sparsely, the distance between any two reflectors is greater than 0.1L and less than 0.3L, and L is the detection distance of the laser radar loaded on the mobile robot.
3. The indoor positioning method for the lidar-based single-mobile-robot according to claim 1, wherein in the step 2, the method for establishing the local coordinate system by the mobile robot is as follows: the mobile robot takes the self position as the origin, the pose orientation is the positive direction of an x axis, the anticlockwise rotation by 90 degrees is the positive direction of a y axis, a local coordinate system is established, and the local coordinate system is reestablished once when each pair of reflectors in the position detection range are scanned once.
4. The indoor positioning method for the single-mobile-robot based on the lidar as recited in claim 1, wherein in the step 2, the mobile robot scans the surrounding environment of the position where the mobile robot is located by the lidar, and when the reflector is detected, the reflector is sequentially numbered as 1,2,3, 4.
5. The indoor positioning method for the lidar-based single-mobile-robot according to claim 1, wherein in the step 3, the mobile robot calculates its global coordinate formula as follows:
wherein (x)j，yj)，(xk，yk) J and k are coordinates of the mobile robot under the global coordinate system, j and k are two reflectors which can be detected by the mobile robot at the time t-1 and the time t, and dj，dkJ, k and the distance of the mobile robot, two solutions can be obtained when the equation set is solved, and one wrong solution is eliminated according to the known moving speed V of the mobile robot to obtain the global coordinate P (t) of the mobile robot.
6. The indoor positioning method for the lidar-based single-mobile-robot according to claim 5, wherein in the step 4, the mobile robot calculates the translation matrix B and the rotation matrix A between the global coordinate system and the current local coordinate system as follows:
the mobile robot firstly calculates a translation matrix B between a global coordinate system and a current local coordinate system, wherein B is a 2 x 1 matrix, the first row of B is the x value of P (t), namely the x-axis component of the global coordinate of the mobile robot, the second row of B is the y value of P (t), namely the y-axis component of the global coordinate of the mobile robot, two reflectors which can be detected at the t-1 moment and the t moment are selected and are regarded as j and k, and the global coordinates P of the reflectors are regarded as j and kj g、
And local coordinates P at time tj(t)、Pk(t) writing in vector form, respectively vj，vk，wj，wkCalculating the rotation from these vectorsTurning matrix A, determining [ v ] before calculating rotation matrix Aj-B vk-B]The reversibility of (c) is that whether the mobile robot and the reflector j, k are on the same straight line at the current time t is judged, if [ v [ [ v ]j-B vk-B]And if the rotation matrix A is irreversible, not calculating, discarding all the reflector data detected at the current moment by the mobile robot, and otherwise, calculating the rotation matrix A by adopting the following formula:
A＝[wj wk]×[vj-B vk-B]-1。
7. the indoor positioning method for single mobile robot based on lidar according to claim 6, wherein in step 5, the mobile robot first calculates local coordinates of the reflector detected at time t, and then calculates global coordinates of the reflector through rotation and translation transformation, and the formula is as follows:
Pi g(t)＝A-1×Pi(t)+B
wherein p isi g(t) is the global coordinate of the reflector i, PiAnd (t) is the local coordinate of the reflector i at the time t, i ∈ N (t), and N (t) is the set of reflectors in the detection range of the mobile robot at the time t.
8. The indoor positioning method for the single mobile robot based on the lidar as recited in claim 1, wherein in the step 6, the following is specifically included when the mobile robot processes the global coordinates of the indoor reflector:
the mobile robot firstly excludes some abnormal reflector coordinates obtained by calculation, namely obvious large or small values caused by calculation errors, and then averages global coordinates obtained by multiple calculations of the same reflector to reduce errors, so that the global coordinates of the indoor reflector are corrected.
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| 刘之舟: "AGV激光定位导航算法研究及系统计算", 《中国优秀硕士学位论文全文数据库信息科技辑》, pages 22 - 38 * |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023005020A1 (en) * | 2021-07-30 | 2023-02-02 | 深圳市优必选科技股份有限公司 | Reflector localization method, robot and computer-readable storage medium |
| CN113625320A (en) * | 2021-08-06 | 2021-11-09 | 珠海丽亭智能科技有限公司 | Outdoor combined positioning method based on differential GPS and reflector |
| CN113625320B (en) * | 2021-08-06 | 2023-10-24 | 恩际艾科技(苏州)有限公司 | Outdoor combined positioning method based on differential GPS and reflector |
| CN115220012A (en) * | 2022-09-20 | 2022-10-21 | 成都睿芯行科技有限公司 | Positioning method based on reflecting plate |
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| Publication number | Publication date |
|---|---|
| CN112285725B (en) | 2023-11-07 |
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