CN113158387B - Visual target point arrangement method based on laser radar grid map coupling - Google Patents

Visual target point arrangement method based on laser radar grid map coupling Download PDF

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Publication number
CN113158387B
CN113158387B CN202110283869.1A CN202110283869A CN113158387B CN 113158387 B CN113158387 B CN 113158387B CN 202110283869 A CN202110283869 A CN 202110283869A CN 113158387 B CN113158387 B CN 113158387B
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coordinate system
agv
laser tracker
coupling
uncertainty
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CN113158387A (en
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李泷杲
黄翔
黄智超
李�根
曾琪
齐凯
陶克梅
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/18—Network design, e.g. design based on topological or interconnect aspects of utility systems, piping, heating ventilation air conditioning [HVAC] or cabling
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Abstract

A visual target point arrangement method based on laser radar grid map coupling is characterized in that firstly, laser tracker measuring equipment is introduced to realize the grid map coordinate system constructed by a laser radar and the laser tracker coordinate system coupling; and secondly, determining the arrangement of the visual targets based on the coordinate coupling uncertainty, the measurement uncertainty and the movement uncertainty. The invention improves the accuracy of coordinate system coupling and target spot arrangement; the coordinate system has the advantages of less coupling measurement times, high coupling resolving precision, flexible paving of visual targets combined with actual aviation manufacturing scenes, flexible and robust invention, wide application in the aviation manufacturing field, and effective improvement of AGV navigation positioning precision after the visual targets are fused in a grid map.

Description

Visual target point arrangement method based on laser radar grid map coupling
Technical Field
The invention relates to an aviation manufacturing technology, in particular to a laser radar grid map coupling and visual target spot arrangement method applied to the aviation manufacturing field, and specifically relates to a visual target spot arrangement method based on laser radar grid map coupling.
Background
The grid map used by the AGV in the current aviation manufacturing field is constructed by means of a laser radar SLAM technology, and the grid map is low in accuracy due to the limitation of a sensor and an algorithm. In addition, the method for precisely coupling the grid probability map with the actual scene is lacking, and the coupling precision of the map is low by simply utilizing the AMCL probability method, so that the requirement of high-precision navigation positioning cannot be met.
In the industry 4.0 background, the field of aeronautical manufacture has evolved rapidly. With the progress of in-situ manufacturing technology, the precision requirements of the in-situ manufacturing site on the in-situ manufacturing technology transfer station carrier are increasing. AGVs are carriers of station turning movements, and the station turning positioning accuracy depends on the accurate construction of an environment map. The laser radar map construction method has the advantages that the calculated amount of the laser radar map construction is small, the map construction speed is high, the laser radar map construction method is widely applied to industrial sites, the grid map construction precision is low, and the method for coupling the grid map with an actual scene is not available, so that the AGV high-precision self-positioning cannot be realized. The existing visual target is used as a fixed marker, so that the AGV can realize a high-precision self-positioning function. The existing visual target is limited by the two-dimensional code, and the system utilization of the visual target is lacking, so that the AGV cannot achieve the high-precision self-positioning effect in the grid map.
Therefore, high-precision measuring equipment such as a laser tracker is introduced, and a laser radar grid map construction method integrating visual targets is designed, so that the navigation and positioning precision can be effectively improved.
Disclosure of Invention
Aiming at the pain points which lack a high-precision coupling method in a grid map constructed by a laser radar and an actual scene, the invention discloses a visual target point arrangement method based on laser radar grid map coupling.
The technical scheme of the invention is as follows:
a visual target point arrangement method based on laser radar grid map coupling is characterized in that firstly, laser tracker measuring equipment is introduced to realize the coupling of a grid map coordinate system constructed by a laser radar and a laser tracker coordinate system; and determining the arrangement of the visual targets based on the coordinate coupling uncertainty, the measurement uncertainty and the movement uncertainty.
The coupling method of the grid map coordinate system and the laser tracker coordinate system in the AGV field is as follows: in an operation scene, the laser tracker is arranged in a region which is close to the center and is less in shielding; establishing a right-hand Cartesian coordinate system by taking a laser tracker as an origin, wherein the right-hand Cartesian coordinate system is called a laser tracker coordinate system and is also an actual scene coordinate system; placing target ball seats of a plurality of laser trackers on the AGV for placing the target balls; the laser tracker continuously measures the target ball carried on the target ball seat, and the geometric center of the target ball seat is required to be ensured to coincide with the AGV movement center; the laser tracker measures a plurality of target balls of the AGV on each station to obtain the coordinates of the target balls under the laser tracker; in a scene, a plurality of scattered stations are arranged, and the position p of the AGV at the station i is recorded and measured i The number of the target balls is N bq The AGV pose obtained by the ith measurement is:
in the method, in the process of the invention,representing the measurement value of the kth target ball coordinate in the position and posture of the AGV measured at the ith time;
after all the measurements are completed, the pose of the AGV measured by the laser tracker is obtained asWherein p is i Representing the pose of AGV under the coordinate system of the laser tracker, wherein P is the measurement coordinate set of the laser tracker, and N is the measurement coordinate set of the laser tracker p Representing the number of matching measurement points;
obtaining the pose of the AGV under the grid map coordinate system by an AMCL probability methodWherein x is i Representing the coordinates of the AGV under the grid map coordinate system, wherein X is the coordinate set of the AGV under the grid map coordinate system;
two-coordinate system coupling, namely solving a rotation matrix as R and a translation vector as t, so that the two-coordinate system coupling error function E (R, t) is minimum:
and solving to obtain a rotation matrix R and a translation vector t.
In the formula U, V, a verification rotation matrix |R|=1 is obtained by SVD decomposition of a positive definite matrix H generated in the solving process; when |r|= -1 or the measured two coordinate system point cloud stores the mirror relationship, then:
the coupling error is denoted as sigma Transform The coupling error of the method is:
visual target placement includes the following:
the visual target point is stuck on the ground or the ceiling, the pose of the visual target point is obtained by combining and measuring a laser tracker and a T-Probe, and if the AGV wants to identify the visual target point to reach the positioning precision sigma, the AGV is:
recording the uncertainty of X-direction movement asY-direction movement uncertainty is +>The X-direction movement distance is d x The Y-direction movement distance is d y The uncertainty of the AGV movement is +.>
The side length of the visual target point is d Tag Measuring to obtain that uncertainty of camera recognition visual target point is sigma cam Side length d of rectangular field of view of camera FOV The method comprises the steps of carrying out a first treatment on the surface of the AGV moves in the X direction by a distance d x Distance d of movement in Y direction y Is of the motion uncertainty ofSequence number A i The measurement uncertainty of the visual target point of (2) under the laser tracker system is +.>The d constraint equation for the maximum placement interval of the visual target is:
setting a precision guarantee margin coefficient C, and determining the maximum arrangement interval of the visual targets as d to obtain:
under the measurement of a laser tracker and a visual target, the obtained pose isN bq Represents the number of targets, m i Visual target of table type index i.
In the method, in the process of the invention,the kth T-Probe measurement data of a target point denoted by a reference numeral i is represented, and n represents the total measurement times of the target point.
Coupling the visual target point to a grid map coordinate system to obtain the pose of the visual target point in the grid map, and marking the pose asAnd if the rotation matrix of the laser tracker coordinate system and the grid map coordinate system is R and the translation vector is t, then:
M'＝R·M+t (10)
the beneficial effects of the invention are as follows:
1) High-precision measuring equipment such as a laser tracker and the like is introduced, and a high-precision measuring reference is utilized to improve the precision of coordinate system coupling and target point arrangement.
2) The coordinate system has less coupling measurement times and high coupling resolving precision.
3) The visual target is flexibly paved in combination with the actual aviation manufacturing scene, and the invention is flexible and robust.
The method can be widely applied to the field of aviation manufacture, and the AGV navigation positioning precision can be effectively improved after the visual target spot is fused on the grid map.
Drawings
FIG. 1 is a schematic diagram of two coordinate system coupling according to the present invention.
FIG. 2 is a diagram of an AGV target tee arrangement of the present invention.
FIG. 3 is a schematic diagram of a visual target placement of the present invention, for example an April Tag.
Detailed Description
The invention will be further illustrated with reference to the drawings and examples, it being understood that the specific examples described herein are intended to illustrate the invention only and are not to be limiting.
As shown in fig. 1-3.
A visual target point arrangement method based on laser radar grid map coupling comprises the following two aspects:
1.1 designing a method for coupling a grid map coordinate system constructed by a laser radar with a laser tracker coordinate system (namely an actual scene coordinate system) by introducing laser tracker measuring equipment;
1.2 research a visual target placement method based on analysis of coordinate coupling uncertainty, measurement uncertainty and motion uncertainty.
The coupling mode of the grid map coordinate system and the laser tracker coordinate system (namely the actual scene coordinate system) in the AGV field comprises the following steps:
as illustrated in the left diagram of fig. 1, in the present coupling method, in an operation scene, a laser tracker is arranged near the center and blocks less of the area in the scene. The laser tracker is used as an origin, and a right-hand Cartesian coordinate system is established, which is called a laser tracker coordinate system and is also an actual scene coordinate system.
A plurality of target ball seats of a laser tracker are arranged on the AGV for placing target balls. The laser tracker continuously measures the target ball carried on the target ball seat, so that the geometric center of the target ball seat is required to be overlapped with the movement center of the AGV as much as possible, 4 target ball seats are shown in FIG. 2, more target ball seats are placed around the movement center, and measurement accuracy can be improved.
And the laser tracker measures a plurality of target balls of the AGV on each station to obtain the coordinates of the target balls under the laser tracker. In a scene, a plurality of scattered stations are arranged, and the position p of the AGV at the station i is recorded and measured i The number of the target balls is N bq The measured AGV pose obtained by the ith measurement is:
in the method, in the process of the invention,representing the ith measurementAnd measuring a kth target ball coordinate in the AGV pose.
After all the measurements are completed, the pose of the AGV measured by the laser tracker is obtained asWherein p is i Representing the pose of AGV under the coordinate system of the laser tracker, wherein P is the measurement coordinate set of the laser tracker, and N is the measurement coordinate set of the laser tracker p Representing the number of matching measurement points.
Obtaining the pose of the AGV under the grid map coordinate system by an AMCL probability methodWherein x is i And the coordinate of the AGV under the grid map coordinate system is represented, and X is the coordinate set of the AGV under the grid coordinate system.
Two-coordinate system coupling, namely solving a rotation matrix as R and a translation vector as t, so that the two-coordinate system coupling error function E (R, t) is minimum:
and solving to obtain a rotation matrix R and a translation vector t.
In the formula U, V, a verification rotation matrix |R|=1 is obtained by SVD decomposition of a positive definite matrix H generated in the solving process. When |r|= -1 or the measured two coordinate system point cloud stores the mirror relationship, then:
the coupling error is denoted as sigma Transform The coupling error of the method is:
the visual target point arrangement method comprises the following steps:
the visual target point is stuck on the ground or the ceiling, the pose of the visual target point is obtained by combining and measuring a laser tracker and a T-Probe, and if the AGV wants to identify the visual target point to reach the positioning precision sigma, the AGV is:
recording the uncertainty of X-direction movement asY-direction movement uncertainty is +>The X-direction movement distance is d x The Y-direction movement distance is d y The uncertainty of the AGV movement is +.>
The side length of the visual target point is d Tag Measuring to obtain that uncertainty of camera recognition visual target point is sigma cam Side length d of rectangular field of view of camera FOV The method comprises the steps of carrying out a first treatment on the surface of the AGV moves in the X direction by a distance d x Distance d of movement in Y direction y Is of the motion uncertainty ofSequence number A i The measurement uncertainty of the visual target point of (2) under the laser tracker system is +.>The d constraint equation for the maximum placement interval of the visual target is:
setting a precision guarantee margin coefficient C, and determining the maximum arrangement interval of the visual targets as d to obtain:
under the measurement of a laser tracker and a visual target, the obtained pose isN bq Represents the number of targets, m i Visual target of table type index i.
In the method, in the process of the invention,the kth T-Probe measurement data of a target point denoted by a reference numeral i is represented, and n represents the total measurement times of the target point.
Coupling the visual target point to a grid map coordinate system to obtain the pose of the visual target point in the grid map, and marking the pose asAnd if the rotation matrix of the laser tracker coordinate system and the grid map coordinate system is R and the translation vector is t, then:
M'＝R·M+t (10)
the details are as follows:
1. as shown in fig. 1 and 2, in order to realize the precise coupling relation between the laser tracker coordinate system and the grid map coordinate system, the following coordinate system coupling method is designed.
a) As shown in fig. 2, a target ball seat is disposed on the AGV. The laser tracker is high-precision optical measurement equipment in the field of industrial measurement, and can be combined with a reflective target ball to rapidly finish high-precision measurement. And measuring a plurality of target ball seats of the AGV by using a laser tracker to obtain the pose of the AGV under the laser tracker.
And the laser tracker measures a plurality of target balls of the AGV on each station to obtain the coordinates of the target balls under the laser tracker. Recording position and posture p of AGV measured at ith time i The number of the target balls is N bq The measured pose of the AGV at the station i is as follows:
b) As shown in the left side of FIG. 1, the AGV is driven to a plurality of target stations, and the pose of the AGV in each battle position is measured by a laser tracker to obtain the pose of the AGV in a laser tracker coordinate system.
Wherein p is i Representing the pose of the AGV measured at the ith time under a laser tracker coordinate system, wherein P is a laser tracker measurement coordinate set and N is the coordinate set p Representing the number of matching measurement points.
c) When the laser tracker measures, the pose of the AGV in the grid map is obtained by using self-positioning modes such as an AMCL Monte Carlo self-positioning algorithm in the grid map:
wherein x is i Representing the coordinate of the AGV under the grid map coordinate system calculated for the ith time, wherein X is the coordinate set of the AGV under the grid coordinate system, and N p Representing the number of matching measurement points.
d) The two coordinate systems are coupled by means of the different poses of the AGV under the two coordinate systems.
Two-coordinate system coupling, namely solving a rotation matrix as R and a translation vector as t, so that the two-coordinate system coupling error function E (R, t) is minimum:
and solving to obtain a rotation matrix R and a translation vector t.
In the formula U, V, a verification rotation matrix |R|=1 is obtained by SVD decomposition of a positive definite matrix H generated in the solving process. When |r|= -1 or the measured two coordinate system point cloud stores the mirror relationship, then:
e) The uncertainty of the coupling of the coordinate system exists
The coupling error is denoted as sigma Transform The coupling error of the method is:
2. as shown in FIG. 3, the uncertainty of the AGV to identify the target spot and go to the target station is studied, and the visual target spot placement interval is designed in combination with the uncertainty and the accuracy requirements.
a) Determining the precision requirement sigma after the AGV recognizes the visual target;
b) Determining camera recognition target uncertainty sigma cam Serial number A i The measurement uncertainty of the visual target point of (2) under the laser tracker system isDegree of uncertainty of coupling of coordinate system sigma Transform ；
c) Determining a movement distance, calculating a movement uncertaintyRecording the uncertainty of X-direction movement as +.>Y-direction movement uncertainty is +>The X-direction movement distance is d x The Y-direction movement distance is d y The AGV motion uncertainty is:
d) As shown in fig. 3, a constraint equation of the visual target placement interval d is obtained according to the measurement uncertainty relation:
e) According to an uncertainty constraint equation, setting an accuracy guarantee margin coefficient C, and determining the maximum arrangement interval of the visual targets as d to obtain the following solution:
f) The arrangement interval of the visual targets is required to be smaller than or equal to the maximum arrangement interval d, and is obtained by combining and measuring a laser tracker and a T-Probe, and the pose of the visual targets under laser tracking is M= { M 0 ,m 1 ,…,m N N represents the number of targets, m 1 Visual target of table type 1.
In the method, in the process of the invention,the kth T-Probe measurement data of a target point denoted by a reference numeral i is represented, and n represents the total measurement times of the target point.
g) Coupling the visual target to a grid map coordinate system to obtain the pose of the visual target in the grid map, wherein the pose is marked as M '= { M' 0 ,m' 1 ,…,m' N The rotation matrix and translation vector coupling the laser tracker coordinate system with the grid map coordinate system is known as R, t, then:
M'＝R·M+t
the foregoing is merely a preferred embodiment of the invention, and it should be noted that modifications could be made by those skilled in the art without departing from the principles of the invention, which modifications would also be considered to be within the scope of the invention.
The invention is not related in part to the same as or can be practiced with the prior art.

Claims (1)

1. A visual target point arrangement method based on laser radar grid map coupling is characterized in that firstly, laser tracker measuring equipment is introduced to realize the grid map coordinate system constructed by a laser radar and the laser tracker coordinate system coupling; secondly, determining the arrangement of the visual targets based on the coordinate coupling uncertainty, the measurement uncertainty and the movement uncertainty;
the coupling method of the grid map coordinate system and the laser tracker coordinate system in the AGV field is as follows: in an operation scene, the laser tracker is arranged in a region which is close to the center and is less in shielding; establishing a right-hand Cartesian coordinate system by taking a laser tracker as an origin, wherein the right-hand Cartesian coordinate system is called a laser tracker coordinate system and is also an actual scene coordinate system; placing target ball seats of a plurality of laser trackers on the AGV for placing the target balls; the laser tracker continuously measures the target ball carried on the target ball seat, and the geometric center of the target ball seat is required to be ensured to coincide with the AGV movement center; the laser tracker measures a plurality of target balls of the AGV on each station to obtain the coordinates of the target balls under the laser tracker; in a scene, a plurality of scattered stations are arranged, and the position p of the AGV at the station i is recorded and measured i The number of the target balls is N bq The AGV pose obtained by the ith measurement is:
in the method, in the process of the invention,representing the measurement value of the kth target ball coordinate in the position and posture of the AGV measured at the ith time;
after all the measurements are completed, the pose of the AGV measured by the laser tracker is obtained asWherein p is i Representing the pose of AGV under the coordinate system of the laser tracker, wherein P is the measurement coordinate set of the laser tracker, and N is the measurement coordinate set of the laser tracker p Representing the number of matching measurement points;
obtaining the pose of the AGV under the grid map coordinate system by an AMCL probability methodWherein x is i Representing the coordinates of the AGV under the grid map coordinate system, wherein X is the coordinate set of the AGV under the grid map coordinate system;
two-coordinate system coupling, namely solving a rotation matrix as R and a translation vector as t, so that the two-coordinate system coupling error function E (R, t) is minimum:
solving to obtain a rotation matrix R and a translation vector t;
in the formula U, V, a verification rotation matrix |R|=1 is obtained by SVD decomposition of a positive definite matrix H generated in the solving process; when |r|= -1 or the measured two coordinate system point cloud stores the mirror relationship, then:
the coupling error is denoted as sigma Transform The coupling error of the method is:
visual target placement includes the following:
the visual target point is stuck on the ground or the ceiling, the pose of the visual target point is obtained by combining and measuring a laser tracker and a T-Probe, and if the AGV wants to identify the visual target point to reach the positioning precision sigma, the position of the visual target point is:
recording the uncertainty of X-direction movement asY-direction movement uncertainty is +>The X-direction movement distance is d x The Y-direction movement distance is d y The uncertainty of the AGV movement is +.>
The side length of the visual target point is d Tag Measuring to obtain that uncertainty of camera recognition visual target point is sigma cam Side length d of rectangular field of view of camera FOV The method comprises the steps of carrying out a first treatment on the surface of the AGV moves in the X direction by a distance d x Distance d of movement in Y direction y Is of the motion uncertainty ofSequence number A i Is tracked by laserMeasurement uncertainty under the instrument system is +.>The d constraint equation for the maximum placement interval of the visual target is:
setting a precision guarantee margin coefficient C, and determining the maximum arrangement interval of the visual targets as d to obtain:
under the measurement of a laser tracker and a visual target, the obtained pose isN bq Represents the number of targets, m i Visual target of table type index i;
in the method, in the process of the invention,the kth T-Probe measurement data of the target point with the index i is represented, and n represents the total measurement times of the target point;
coupling the visual target point to a grid map coordinate system to obtain the pose of the visual target point in the grid map, and marking the pose asAnd if the rotation matrix of the laser tracker coordinate system and the grid map coordinate system is R and the translation vector is t, then:
M'＝R·M+t (10)
the uncertainty of the coupling of the coordinate system is the coupling error sigma Transform 。
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