CN115657062B - Method and device for quickly relocating equipment and storage medium - Google Patents
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Abstract
The invention relates to a method and a device for quickly relocating equipment and a storage medium. According to the method, on one hand, a radar frame and a point cloud map which is constructed in advance can be used for matching to obtain a first initial pose, a first topic containing the first initial pose is published, and a Cartogrph subscribes the first topic to obtain the first initial pose for repositioning. On the other hand, during repositioning, acquiring the existence condition of the navigation signals and the delay time of the navigation signals, if the navigation signals do not exist or the navigation signals exist but the delay time of the navigation signals is greater than the preset delay time threshold, repositioning by using a first initial pose, if the navigation signals exist and the delay time of the navigation signals is less than the preset delay time threshold, repositioning by using a second initial pose based on the navigation pose, and selecting a faster repositioning mode to reposition.
Description
Technical Field
The present invention relates to the field of relocation technologies, and in particular, to a method, an apparatus, and a storage medium for fast relocation of a device.
Background
Along with the development of indoor robots, indoor robot relocation technology for mine, port and express industry is a precondition for autonomous navigation of robots.
The repositioning of the mobile robot generally means that the robot estimates the pose of the robot in a known global map only by means of a sensor without prior information. When the initial pose is unknown or a 'kidnapping' occurs, the robot needs to realize repositioning. In the traditional method, local environment information and global map information measured by the laser radar are mostly described by adopting an occupied grid, and then relocation in a candidate search area is completed based on probability operation. Good outdoor GPS signals can provide accurate initial poses, and indoor mobile robots based on laser radars do not have accurate global positioning information provided by gnss. Cartographer uses an occupancy grid to represent environmental information, and solves the most likely pose by matching rasterized lidar data with map data and based on maximum likelihood estimation. The Cartogrer algorithm needs to search on a global map during relocation, so that the positioning time is long and the positioning is easy to fail in a single structure environment. During navigation, the pose of the robot suddenly changes due to some external factors (such as manual moving away, external collision and the like), so that the original positioning algorithm which depends on the continuous change of the pose fails. In an indoor environment, the combined navigation loses GNSS signals, and cannot provide an accurate initial pose, so that the Cartograter cannot realize quick relocation in an indoor large scene.
Disclosure of Invention
To solve the above technical problems or at least partially solve the above technical problems, the present invention provides a method, an apparatus, and a storage medium for fast relocation of a device.
In a first aspect, the present invention provides a method for fast relocation of a device, including:
taking a sparse point cloud map corresponding to the last radar frame before relocation as a reference frame, and taking a radar frame at the current moment as a target frame;
the space occupied by the reference frame is divided into a plurality of lattices, and for each lattice, the multidimensional normal probability density function of each lattice is calculated based on points in the lattice;
transforming the target frame into a reference coordinate system where the reference frame is located by using the transformation parameters subjected to iterative optimization, wherein the transformation parameters comprise a rotation matrix and a translation matrix; calculating the probability density of each point falling into the corresponding grid after the target frame conversion; then taking the sum of the probability densities of the corresponding points falling into the corresponding grids as a target function;
iteratively optimizing the transformation parameters through a Newton optimization algorithm to find a target transformation parameter which enables the value of the objective function to be maximum, determining a first initial pose of a target frame based on the target transformation parameter and the coordinates of a reference frame, and publishing a first topic containing the first initial pose;
the Cartogrer subscribes a first topic to obtain a first initial pose, converts the coordinates of the first initial pose into an IMU coordinate system, and transmits the coordinates to the pose conjecture to realize repositioning.
Furthermore, a high-precision map is established for the indoor scene through an SLAM technology integrating a laser radar, an IMU and a milemeter;
and converting the high-precision map into a point cloud map, and performing voxel filtering on the point cloud map to obtain a downsampled sparse point cloud map.
Furthermore, when the device navigation signal is good, the navigation pose provided by navigation is converted into the IMU coordinate system to obtain a second initial pose, a second topic of the second initial pose is published, and when the device navigation signal is relocated, the Cartogrer subscribes the second topic to obtain the second initial pose and transmits the second initial pose to the pose conjecture device to realize the relocation.
Furthermore, a delay time threshold of the navigation signal is preset, if the delay time of the navigation signal is greater than the delay time threshold or the navigation signal disappears, the Cartographer subscribes to a first topic during repositioning, and after the coordinate of the first initial pose is converted into an IMU coordinate system, the coordinate is transmitted to a pose conjecture unit to implement repositioning; if the navigation signal exists and the delay time of the navigation signal end is smaller than the delay time threshold, the Cartogrer subscribes to a second topic during relocation, acquires a second initial pose, and transmits the second initial pose to the pose conjecture device to realize relocation.
Furthermore, the Cartographer subscribes to the first topic or the second topic to acquire a first initial pose or a second initial pose, converts the acquired first initial pose or second initial pose and transmits the converted first initial pose or second initial pose to the pose deducer, and the pose deducer receives the preamble data deleted before the converted first initial pose or second initial pose.
Furthermore, a delay time threshold of the navigation signal is preset, whether the navigation signal exists or not and the delay time of the navigation signal when the navigation signal exists are monitored in real time, the delay time of the navigation signal at the repositioning time is acquired during repositioning, and the delay time of the navigation signal is compared with the delay time threshold.
In a second aspect, the present invention provides a device quick relocation apparatus, including: the system comprises at least one processing unit, a storage unit, a laser radar and an IMU sensor, wherein the processing unit, the storage unit, the laser radar and the IMU sensor are connected through a bus unit; the storage unit stores a computer program, and the processing unit reads and executes the computer program from the storage unit to realize the device fast relocation method.
Further, the device quick relocation apparatus includes: the GPS sensor is connected with the processing unit and the storage unit through the bus unit; the storage unit stores a computer program, and the processing unit reads and executes the computer program from the storage unit to realize the device fast relocation method.
In a third aspect, the present invention provides a storage medium for implementing a method for fast relocation of a device, having a computer program stored thereon, which, when executed by a processor, implements the method for fast relocation of a device.
Compared with the prior art, the technical scheme provided by the embodiment of the invention has the following advantages:
according to the invention, on one hand, a radar frame and a point cloud map which is constructed in advance can be used for matching to obtain a first initial pose, a first topic containing the first initial pose is issued, and the Cartogrer uses the first initial pose for repositioning, so that repositioning under the condition of no navigation signal or high navigation signal delay is realized. On the other hand, the invention can obtain a second initial pose by converting the navigation pose provided by navigation, the Cartograph can reposition by using the second initial pose, and during the repositioning, the existence condition of the navigation signal and the delay time of the navigation signal are obtained, if the navigation signal does not exist or exists but the delay time of the navigation signal is greater than the preset delay time threshold value, the Cartograph subscribes to a first topic, the repositioning is carried out by using the first initial pose, if the navigation signal exists and the delay time of the navigation signal is less than the preset delay time threshold value, the Cartograph is fixed to the second topic, the repositioning is carried out by using the second initial pose, and a faster repositioning mode is selected.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a flowchart of a method for fast relocation of a device according to an embodiment of the present invention;
FIG. 2 is a flowchart of computing a first initial pose posting topic including a first initial pose according to an embodiment of the invention;
fig. 3 is a flowchart of calculating a second initial pose and publishing a second topic containing the second initial pose according to the embodiment of the present invention;
fig. 4 is a schematic diagram of a device quick relocation apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Example 1
Referring to fig. 1, an embodiment of the present invention provides a method for fast relocation of a device, including:
and presetting a delay time threshold of the navigation signal. The setting mode of the delay time threshold is as follows: acquiring the average time consumed by calculating the first initial pose n times, acquiring the variance of the time consumed by calculating the first initial pose n times, and taking the variance of the average time plus 3 times as a delay time threshold.
And monitoring whether the navigation signal exists or not and the delay time of the navigation signal when the navigation signal exists in real time. And during relocation, acquiring the existence condition and delay time of the navigation signal at the relocation time.
Judging whether a navigation signal exists or not;
if the navigation signal does not exist, the Cartogrer subscribes to a first topic during relocation, a first initial pose is obtained through the first topic, the coordinate of the first initial pose is converted into an IMU coordinate system and then transmitted to a pose conjecture device to realize that the Cartogrer subscribes to the first topic during relocation, the first initial pose is obtained, the obtained first initial pose is converted and then transmitted to a pose conjecture device, and the pose conjecture device deletes preamble data before receiving the converted first initial pose;
if the navigation signal exists, comparing the delay time of the navigation signal with a delay time threshold, if the delay time of the navigation signal of the equipment to be relocated is greater than the delay time threshold, when the equipment to be relocated is relocated, the Cartograph subscribes to a first topic, acquires a first initial pose through the first topic, transfers the coordinate of the first initial pose to an IMU coordinate system, transfers the coordinate of the first initial pose to a pose conjecture device to realize that the Cartograph relocates to the first topic, acquires the first initial pose, transfers the acquired first initial pose after conversion to a pose conjecture device, deletes preamble data before receiving the converted first initial pose by the pose conjecture device,
if the navigation signal exists and the delay time of the navigation signal end is smaller than the delay time threshold, the Cartogrer subscribes to a second topic during relocation, acquires a second initial pose, and transmits the second initial pose to a pose estimator to realize relocation; the Cartogrraph subscribes to a second topic to obtain a second initial pose, converts the obtained second initial pose and transmits the converted second initial pose to the pose deducer, and the pose deducer deletes preamble data before receiving the converted second initial pose.
Referring to fig. 2, the process of calculating the first initial pose and publishing the first topic including the first initial pose is as follows:
and establishing a high-precision map for the indoor scene by using a SLAM technology integrating a laser radar, an IMU and a milemeter. Specifically, an indoor scene is scanned through a laser radar, IMU and odometer information are added into an SLAM composition environment, the indoor scene high-precision map is constructed, and a binary pbstream format file of the high-precision map is stored.
And converting the high-precision map into a point cloud map, and performing voxel filtering on the point cloud map to obtain a downsampled sparse point cloud map. Specifically, in a point cloud map, a three-dimensional voxel grid is created through voxelgrid classes, coordinates of point cloud map points in each voxel in the voxel grid are traversed, coordinates of the center of gravity of each voxel are calculated by using the coordinates of all points in the voxel, the point closest to the center in each voxel is reserved, and downsampling of the point cloud map is achieved.
Scanning an indoor scene by the equipment to be relocated through a radar to obtain a radar frame; and taking a sparse point cloud map corresponding to the last radar frame before relocation as a reference frame, and taking the radar frame at the current moment as a target frame.
And dividing the space occupied by the reference frame into a plurality of lattices, and calculating the multidimensional normal probability density function of each lattice based on points in the lattices for each lattice.
Specifically, the points in each grid are counted
，k=1,2，……mCalculating the average value of the multidimensional normal probability density of the points in the lattice:
calculating the covariance of the multidimensional normal probability density:
then the multidimensional normal probability density function of a lattice is:
Transforming the target frame into a reference coordinate system where the reference frame is located by using the transformation parameters subjected to iterative optimization, wherein the transformation parameters comprise a rotation matrix and a translation matrix; calculating the probability density of each point falling into the corresponding grid after the target frame is converted, further using the sum of the probability densities of the corresponding points falling into the corresponding grids as a target function, iteratively optimizing the transformation parameters through a Newton optimization algorithm to find a target transformation parameter which enables the value of the target function to be maximum, determining a first initial pose of the target frame based on the target transformation parameter and the coordinates of the reference frame, and publishing a first topic including the first initial pose.
Referring to fig. 3, the process of acquiring the second pose and publishing the second topic including the second pose is as follows:
and when the navigation signal of the equipment is good, acquiring a navigation pose provided by navigation, converting the coordinate of the navigation pose into an IMU coordinate system to obtain a second initial pose, and publishing a second topic containing the second initial pose.
Example 2
Referring to fig. 4, an embodiment of the present invention provides a device quick relocation apparatus, including: the system comprises at least one processing unit, a storage unit, a laser radar, an IMU sensor and a GPS sensor, wherein the processing unit, the storage unit, the laser radar, the GPS sensor and the IMU sensor are connected through a bus unit; the storage unit stores a computer program, and the processing unit reads and executes the computer program from the storage unit to realize the device fast relocation method.
Example 3
The embodiment of the invention provides a storage medium for realizing a device fast relocation method, wherein a computer program is stored on the storage medium, and the computer program is executed by a processor to realize the device fast relocation method.
In the embodiments provided in the present invention, it should be understood that the disclosed structures may be implemented in other ways. For example, the above-described structural embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, structures or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The above description is merely illustrative of particular embodiments of the invention that enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A method for fast relocation of a device, comprising:
taking a sparse point cloud map corresponding to the last radar frame before relocation as a reference frame, and taking a radar frame at the current moment as a target frame;
dividing the space occupied by the reference frame into a plurality of lattices, and calculating a multi-dimensional normal probability density function of each lattice based on points in the lattices for each lattice;
transforming the target frame into a reference coordinate system where the reference frame is located by using the transformation parameters subjected to iterative optimization, wherein the transformation parameters comprise a rotation matrix and a translation matrix; calculating the probability density of each point falling into the corresponding grid after the target frame is converted; taking the sum of the probability densities of the corresponding points falling into the corresponding grids as a target function;
iteratively optimizing the transformation parameters through a Newton optimization algorithm to find a target transformation parameter which enables the value of the objective function to be maximum, determining a first initial pose of a target frame based on the target transformation parameter and the coordinates of a reference frame, and publishing a first topic containing the first initial pose;
when the equipment navigation signal is good, the navigation pose provided by navigation is obtained, the coordinate of the navigation pose is converted into an IMU coordinate system to obtain a second initial pose, and a second topic of the second initial pose is issued;
during relocation, if the delay time of the navigation signal is greater than the delay time threshold or the navigation signal disappears, the Cartogrer subscribes to a first topic during relocation, converts the coordinate of the first initial pose into an IMU coordinate system, and transmits the coordinate to the pose conjecture to realize relocation; if the navigation signal exists and the delay time of the navigation signal end is smaller than the delay time threshold, the Cartogrer subscribes to a second topic during relocation, acquires a second initial pose, and transmits the second initial pose to the pose conjecture to realize relocation.
2. The device fast relocation method according to claim 1, wherein a high precision map is built for the indoor scene by means of SLAM technology with integration of laser radar, IMU and odometer;
and converting the high-precision map into a point cloud map, and performing voxel filtering on the point cloud map to obtain a downsampled sparse point cloud map.
3. The apparatus quick relocation method according to claim 1, wherein the Cartographer acquires a first initial pose or a second initial pose, transfers the acquired first initial pose or second initial pose after transformation to the pose estimator, and the pose estimator receives the preamble data deleted before the transformed first initial pose or second initial pose.
4. The method for fast relocation of equipment according to claim 1, wherein a delay time threshold of the navigation signal is preset, the presence and the delay time of the navigation signal when the navigation signal is present are monitored in real time, the delay time of the navigation signal at the time of relocation is obtained, and the delay time of the navigation signal is compared with the delay time threshold.
5. A device quick relocation apparatus, comprising: the system comprises at least one processing unit, a storage unit, a laser radar, a GPS sensor and an IMU sensor, wherein the processing unit, the storage unit, the laser radar, the GPS sensor and the IMU sensor are connected through a bus unit; the storage unit stores a computer program, and the processing unit reads and executes the computer program from the storage unit to realize the device fast relocation method according to any one of claims 1 to 4.
6. A storage medium for implementing a method for fast relocation of a device, the storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements a method for fast relocation of a device as claimed in any one of claims 1-4.
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Denomination of invention: A fast relocation method, device, and storage medium for equipment Granted publication date: 20230317 Pledgee: Haidian Beijing science and technology enterprise financing Company limited by guarantee Pledgor: Polytechnic Leike Zhitu (Beijing) Technology Co.,Ltd.|Leike Zhitu (Tai'an) Automobile Technology Co.,Ltd. Registration number: Y2024110000149 |