CN116609756A - 2D laser reflection column positioning strong reflection object interference rejection algorithm - Google Patents
2D laser reflection column positioning strong reflection object interference rejection algorithm Download PDFInfo
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
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- G06F2218/12—Classification; Matching
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The application discloses a 2D laser reflection column positioning strong reflection object interference rejection algorithm, which comprises the steps of establishing a reflection column electronic map, judging whether a scanned reflection column is formed by a strong reflector, and marking the scanned reflection column as an abnormal reflection column if the scanned reflection column is formed by the strong reflector; the radar is taken as a circle center O, the front of the radar is 0 degree, the starting direction A and the ending direction B are set anticlockwise, the radius R is set, and if the abnormal light reflection column is identified in the fan-shaped OAB with the radius R, the abnormal light reflection column is eliminated. According to the 2D laser reflection column positioning strong reflection object interference rejection algorithm provided by the application, the strong reflection body is marked as an abnormal point and a set range according to the reflection column principle to reject the abnormal reflection column, so that the strong reflection body is effectively prevented from interfering the positioning of the reflection column, the adaptation of the reflection column positioning to the application environment is greatly improved to effectively reject the strong reflection body, the positioning pose output of the reflection column is stabilized, and the positioning accuracy of the AGV trolley is improved.
Description
Technical Field
The application relates to the technical field of laser reflection column positioning, in particular to a 2D laser reflection column positioning strong reflection object interference rejection algorithm.
Background
With the development of industrial automation and intellectualization, automatic Guided Vehicles (AGVs) are increasingly used in the field of logistics transportation. The positioning mode of AGVs is also becoming more mature. For the scene with irregular environment and larger change, the positioning of the reflecting column is more advantageous. However, the strong reflective object can cause great interference to the positioning of the reflective column, so the application is used for solving the interference of the strong reflective object to the positioning of the reflective column and improving the adaptation of the positioning of the reflective column to the application environment.
Disclosure of Invention
The application provides a 2D laser reflection column positioning strong reflection object interference eliminating algorithm, which has the advantage of eliminating a strong reflection object and is used for solving the problems of the background technology.
In order to achieve the above purpose, the application adopts the following technical scheme: a 2D laser reflection post positioning strong reflection object interference rejection algorithm, comprising:
(1) Abnormality marking
Establishing a reflection column electronic map, judging whether the scanned reflection column is formed by a strong reflector, and if so, marking the scanned reflection column as an abnormal reflection column;
(2) Region culling
The radar is taken as a circle center O, the front of the radar is 0 degree, the starting direction A and the ending direction B are set anticlockwise, the radius R is set, and if the abnormal light reflection column is identified in the fan-shaped OAB with the radius R, the abnormal light reflection column is eliminated.
Further, the specific steps of region elimination are as follows:
acquiring Lei Dadian cloud data;
marking point clouds according to the set parameters R, A and B;
acquiring a reflecting column through a radar point cloud;
scanning the reflection column to match with the map landmark;
the matched landmarks are abnormal points, and the scanned reflection columns are removed;
and calculating according to the matching result to obtain the positioning pose.
Further, the algorithm flow is as follows:
step one, setting a maximum scanning range max_dis, and marking a point cloud with a distance larger than max_dis in laser point clouds as an abnormal;
setting an effective reflection intensity interval of the laser point cloud, and marking the point cloud exceeding the reflection intensity interval as abnormal, wherein the minimum reflection intensity l1 and the maximum reflection intensity l 2;
setting a starting direction A, a terminating direction B and a radius R, and marking point cloud data in a set fan-shaped range as abnormal;
setting a relation function of the distance of the reflecting column and the reflection intensity as dis=f (l), wherein dis is the distance from the reflecting column to the laser radar, and l is the reflection intensity;
step five, calculating a reflection column according to the distance of the laser point Yun Zhongdian cloud and the relation between the reflection intensity and f (l);
and step six, marking the mistakenly-identified reflective columns as abnormal reflective columns.
Further, be applied to reflection of light post and radar, be equipped with the reflector layer on the outer wall of reflection of light post, the reflector layer includes strong reflection of light face and weak reflection of light face, the top of reflection of light post is equipped with signal receiver, the bottom of reflection of light post is connected with the swivel mount, the bottom of swivel mount is connected with discernment action device.
Further, the recognition action device comprises a box body, a motor and a recognition controller, wherein the motor and the recognition controller are fixedly connected inside the box body, the signal receiver and the motor are both connected with the recognition controller, the rotary seat is a bearing, the outer ring of the rotary seat is connected with the reflecting column, and the inner ring of the rotary seat is connected with the box body.
Further, the radar control system comprises a positioning module and an identification module, wherein the identification module comprises a fixed strong reflector identification unit, a movable strong reflector identification unit and a reflection intensity comparison unit, the positioning module obtains the positioning pose of the radar according to the position of a normal reflection column, and the identification module is used for identifying and eliminating the strong reflector; the fixed strong reflector identification unit is used for judging that the reflector is a strong reflector at a fixed position, the movable strong reflector identification unit is used for judging that the reflector is a movable strong reflector, and the reflection intensity comparison unit is used for judging the reflection intensity of the reflector according to reflected laser.
Further, the specific steps of region elimination are as follows:
acquiring Lei Dadian cloud data;
marking point clouds according to the set parameters R, A and B;
acquiring a reflecting column through a radar point cloud;
scanning the reflection column to match with the map landmark;
judging whether the matched landmark is an abnormal point, if so, judging that the reflecting column is a fixed strong reflecting column, and eliminating the scanned reflecting column;
if not, the radar transmits an identification signal to the direction of the reflective column, then the radar transmits laser again, reflected laser is obtained, and the intensity of the reflected laser is compared with that of the first reflected laser; if the reflection intensity difference does not accord with the preset threshold value, judging the reflection column as a movable strong reflection column, and eliminating the scanned reflection column; if not, judging the reflection column to be a normal reflection column;
and finally, obtaining the positioning pose according to the matching result operation.
1. According to the 2D laser reflecting column positioning strong reflecting object interference rejection algorithm provided by the application, according to the reflecting column principle, the strong reflecting column is marked as an abnormal point and a set range to reject the abnormal reflecting column, so that the interference of the strong reflecting column positioning caused by the strong reflecting body, aluminum alloy, glass and the like is effectively prevented, the strong reflecting body is effectively rejected due to the adaptation of the reflecting column positioning to the application environment, the output of the reflecting column positioning pose is stabilized, and the positioning accuracy of the AGV trolley is improved.
2. According to the D laser reflection column positioning strong reflection object interference rejection algorithm provided by the application, through the unique structures of the reflection column and the radar, the radar transmits identification signals to the signal receiver, and the motor controls the rotation of the reflection column so as to change the positions of the strong reflection surface and the weak reflection surface, so that the reflected intensities of the received reflection laser of the radar are different and the difference value of the reflected intensities is fixed, and the reflector is judged to be a movable strong reflector or a normal reflection column, thereby realizing the function of identifying the movable strong reflector and further improving the positioning accuracy of the AGV trolley.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
The disclosure may be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flowchart of an algorithm according to a first embodiment of the present application;
FIG. 2 is a schematic diagram of a first embodiment of the present application;
FIG. 3 is a schematic diagram of a reflective column and a radar according to a second embodiment of the present application;
FIG. 4 is a schematic diagram of a reflective layer according to an embodiment of the application;
FIG. 5 is a system diagram of a radar in a second embodiment of the present application;
fig. 6 is a flowchart of an algorithm of a second embodiment of the present application.
In the figure: 1. a light reflecting column; 2. a radar; 201. a positioning module; 202. an identification module; 221. fixing a strong reflector identification unit; 222. a moving strong reflector identification unit; 223. a reflection intensity contrast unit; 3. a light reflecting layer; 301. a strong reflective surface; 302. a weak reflective surface; 4. a signal receiver; 5. rotating base; 6. identifying an action device; 601. a case; 602. a motor; 603. the controller is identified.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Example 1
A 2D laser reflection post positioning strong reflection object interference rejection algorithm, comprising:
(1) Abnormality marking
Establishing a reflection column electronic map, judging whether the scanned reflection column is formed by a strong reflector, and if so, marking the scanned reflection column as an abnormal reflection column;
(2) Region culling
Referring to fig. 2, the radar is used as a circle center O, the front of the radar is 0 degree, the starting direction a and the ending direction B are set anticlockwise, the radius R is set, and if the abnormal light reflection column is identified in the fan-shaped OAB with the radius R, the abnormal light reflection column is removed. In fig. 2, the cuboid at the left side in the scanning range is a strong reflector, and the other prisms are normal reflection columns.
Referring to fig. 1, the specific steps of region elimination are as follows:
acquiring Lei Dadian cloud data;
marking point clouds according to the set parameters R, A and B;
acquiring a reflecting column through a radar point cloud;
scanning the reflection column to match with the map landmark;
the matched landmarks are abnormal points, and the scanned reflection columns are removed;
and calculating according to the matching result to obtain the positioning pose.
The process of the rejection algorithm is as follows:
step one, setting a maximum scanning range max_dis, and marking a point cloud with a distance larger than max_dis in laser point clouds as an abnormal;
setting an effective reflection intensity interval of the laser point cloud, and marking the point cloud exceeding the reflection intensity interval as abnormal, wherein the minimum reflection intensity l1 and the maximum reflection intensity l 2;
setting a starting direction A, a terminating direction B and a radius R, and marking point cloud data in a set fan-shaped range as abnormal;
setting a relation function of the distance of the reflecting column and the reflection intensity as dis=f (l), wherein dis is the distance from the reflecting column to the laser radar, and l is the reflection intensity;
step five, calculating a reflection column according to the distance of the laser point Yun Zhongdian cloud and the relation between the reflection intensity and f (l);
and step six, marking the mistakenly-identified reflective columns as abnormal reflective columns.
Example two
The first embodiment can solve the problem of recognizing and rejecting the strong reflectors located at the fixed positions for a long time in the field, but in practical application, there may be a movable object existing in the field for a short time, and the movable strong reflectors cannot be rejected because the movable strong reflectors are not marked on the electronic map, so the second embodiment is provided to solve the problem of rejecting the movable strong reflectors.
Referring to fig. 3, the algorithm is applied to a reflecting column 1 and a radar 2, a reflecting layer 3 is arranged on the outer wall of the reflecting column 1, referring to fig. 3 and fig. 4, the reflecting layer 3 comprises a strong reflecting surface 301 and a weak reflecting surface 302, and according to the laid areas of the strong reflecting surface 301 and the weak reflecting surface 302, the angle between the strong reflecting surface 301 and the weak reflecting surface 302 is set in the fixing direction of the reflecting column 1 under normal conditions. That is, assuming that the strong reflecting surface 301 and the weak reflecting surface 302 each occupy half of the outer surface area of the reflecting column 1, in a normal state, the middle of the strong reflecting surface 301 faces one side of the road, then the reflecting column 1 rotates 45 ° to enable the middle of the weak reflecting surface 302 to face one side of the road, if the radar 2 is on the road at this time, the radar 2 emits laser light twice respectively, then the laser light emitted by the radar 2 is reflected by the strong reflecting surface 301 and the weak reflecting surface 302 before and after the reflecting column 1 rotates, and because the capacities of the reflected laser light of the strong reflecting surface 301 and the weak reflecting surface 302 are different, the intensities of the reflected laser light obtained by the radar 2 are also different, and the difference value between the two should be fixed. The top of the reflecting column 1 is provided with a signal receiver 4, the signal receiver 4 has the function of receiving signals in all directions, and the signal receiver 4 can also adopt a laser receiver. The bottom of the reflecting column 1 is connected with a rotary seat 5, and the bottom of the rotary seat 5 is connected with an identification action device 6.
The recognition action device 6 comprises a box 601, a motor 602 and a recognition controller 603, wherein the motor 602 and the recognition controller 603 are fixedly connected inside the box 601, a signal receiver 4 and the motor 602 are both connected with the recognition controller 603, a swivel seat 5 is a bearing, an outer ring of the swivel seat 5 is connected with the reflecting column 1, an inner ring of the swivel seat 5 is connected with the box 601, when a rotating shaft of the motor 602 rotates, the reflecting column 1 can be driven to rotate, and the swivel seat 5 plays a role in connecting and supporting the reflecting column 1 and the recognition action device 6.
Referring to fig. 5, the control system of the radar 2 includes a positioning module 201 and an identification module 202, the identification module 202 includes a fixed strong reflector identification unit 221, a movable strong reflector identification unit 222 and a reflection intensity comparison unit 223, the positioning module 201 obtains a positioning pose of the radar 2 according to a position of a normal reflection column, and the identification module 202 is used for identifying and rejecting the strong reflector; the fixed strong reflector recognition unit 221 is configured to determine that the reflector is a strong reflector at a fixed position, the moving strong reflector recognition unit 222 is configured to determine that the reflector is a moving strong reflector, and the reflection intensity comparison unit 223 is configured to determine the reflection intensity of the reflector according to the reflected laser light.
Referring to fig. 6, the specific steps of region elimination are as follows:
acquiring Lei Dadian cloud data;
marking point clouds according to the set parameters R, A and B;
acquiring a reflecting column through a radar point cloud;
scanning the reflection column to match with the map landmark;
judging whether the matched landmark is an abnormal point, if so, judging that the reflecting column is a fixed strong reflecting column, and eliminating the scanned reflecting column;
if not, the radar transmits an identification signal to the direction of the reflective column, then the radar transmits laser again, reflected laser is obtained, and the intensity of the reflected laser is compared with that of the first reflected laser; if the reflection intensity difference does not accord with the preset threshold value, judging the reflection column as a movable strong reflection column, and eliminating the scanned reflection column; if not, judging the reflection column to be a normal reflection column;
and finally, obtaining the positioning pose according to the matching result operation.
In this embodiment, the function of the fixed strong reflector identifying unit 221 is the function of identifying and rejecting the fixed strong reflector in the first embodiment, and the identification idea of the moving strong reflector identifying unit 222 for identifying the moving strong reflector is that when the current reflecting column is not the fixed strong reflector, it needs to be determined whether the reflecting column is the moving strong reflector, the radar 2 transmits an identification signal to the direction of the reflecting column 1, the identification signal is received by the signal receiver 4 and then transmitted to the identification controller 603, the identification controller 603 controls the rotating shaft of the motor 602 to rotate by a preset angle, so that the positions of the strong reflecting surface 301 and the weak reflecting surface 302 are replaced, then the radar 2 transmits a laser signal again, the signal is reflected by the replaced reflecting surface, the radar 2 receives the signal, and the reflection strength comparing unit 223 determines that the laser strength is compared with the strength of the reflected laser before the first time without replacing the reflecting surface, if the laser strength difference is in a preset area, the reflecting column is indicated as normal. In summary, the normal reflector in the application can rotate, so that the same laser emitted by the radar twice has different reflection intensities before and after the rotation of the reflector column, and the reflection intensity difference is a fixed value. When the reflector is not a fixed strong reflector or a normal reflector, the reflector is a movable strong reflector, and the reflector is removed.
Claims (7)
1. A 2D laser reflection post positioning strong reflection object interference rejection algorithm, comprising:
(1) Abnormality marking
Establishing a reflection column electronic map, judging whether the scanned reflection column is formed by a strong reflector, and if so, marking the scanned reflection column as an abnormal reflection column;
(2) Region culling
The radar is taken as a circle center O, the front of the radar is 0 degree, the starting direction A and the ending direction B are set anticlockwise, the radius R is set, and if the abnormal light reflection column is identified in the fan-shaped OAB with the radius R, the abnormal light reflection column is eliminated.
2. The 2D laser reflection column positioning strong-reflection object interference rejection algorithm according to claim 1, wherein the specific steps of the region rejection are as follows:
acquiring Lei Dadian cloud data;
marking point clouds according to the set parameters R, A and B;
acquiring a reflecting column through a radar point cloud;
scanning the reflection column to match with the map landmark;
the matched landmarks are abnormal points, and the scanned reflection columns are removed;
and calculating according to the matching result to obtain the positioning pose.
3. The 2D laser reflection column positioning strong reflection object interference rejection algorithm according to claim 1, wherein the algorithm flow is as follows:
step one, setting a maximum scanning range max_dis, and marking a point cloud with a distance larger than max_dis in laser point clouds as an abnormal;
setting an effective reflection intensity interval of the laser point cloud, and marking the point cloud exceeding the reflection intensity interval as abnormal, wherein the minimum reflection intensity l1 and the maximum reflection intensity l 2;
setting a starting direction A, a terminating direction B and a radius R, and marking point cloud data in a set fan-shaped range as abnormal;
setting a relation function of the distance of the reflecting column and the reflection intensity as dis=f (l), wherein dis is the distance from the reflecting column to the laser radar, and l is the reflection intensity;
step five, calculating a reflection column according to the distance of the laser point Yun Zhongdian cloud and the relation between the reflection intensity and f (l);
and step six, marking the mistakenly-identified reflective columns as abnormal reflective columns.
4. The 2D laser reflection column positioning strong-reflection object interference rejection algorithm according to claim 1, wherein the algorithm is applied to a reflection column (1) and a radar (2), a reflection layer (3) is arranged on the outer wall of the reflection column (1), the reflection layer (3) comprises a strong reflection surface (301) and a weak reflection surface (302), a signal receiver (4) is arranged at the top of the reflection column (1), a swivel base (5) is connected to the bottom end of the reflection column (1), and an identification action device (6) is connected to the bottom end of the swivel base (5).
5. The 2D laser reflection column positioning strong-reflection object interference rejection algorithm according to claim 4, wherein the identification action device (6) comprises a box body (601), a motor (602) and an identification controller (603), the motor (602) and the identification controller (603) are fixedly connected in the box body (601), the signal receiver (4) and the motor (602) are both connected with the identification controller (603), the swivel base (5) is a bearing, an outer ring of the swivel base (5) is connected with the reflection column (1), and an inner ring of the swivel base (5) is connected with the box body (601).
6. The 2D laser reflection column positioning strong-reflection object interference rejection algorithm according to claim 1, wherein the control system of the radar (2) comprises a positioning module (201) and an identification module (202), the identification module (202) comprises a fixed strong-reflection body identification unit (221), a mobile strong-reflection body identification unit (222) and a reflection intensity comparison unit (223), the positioning module (201) obtains the positioning pose of the radar (2) according to the position of a normal reflection column, and the identification module (202) is used for identifying and rejecting a strong-reflection body; the fixed strong reflector identification unit (221) is used for judging that the reflector is a strong reflector at a fixed position, the movable strong reflector identification unit (222) is used for judging that the reflector is a movable strong reflector, and the reflection intensity comparison unit (223) is used for judging the reflection intensity of the reflector according to reflected laser.
7. The 2D laser reflection column positioning strong reflection object interference elimination algorithm according to claim 5, wherein the specific steps of area elimination are as follows:
acquiring Lei Dadian cloud data;
marking point clouds according to the set parameters R, A and B;
acquiring a reflecting column through a radar point cloud;
scanning the reflection column to match with the map landmark;
judging whether the matched landmark is an abnormal point, if so, judging that the reflecting column is a fixed strong reflecting column, and eliminating the scanned reflecting column;
if not, the radar transmits an identification signal to the direction of the reflective column, then the radar transmits laser again, reflected laser is obtained, and the intensity of the reflected laser is compared with that of the first reflected laser; if the reflection intensity difference does not accord with the preset threshold value, judging the reflection column as a movable strong reflection column, and eliminating the scanned reflection column; if not, judging the reflection column to be a normal reflection column;
and finally, obtaining the positioning pose according to the matching result operation.
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| CN202310390973.XA CN116609756A (en) | 2023-04-13 | 2023-04-13 | 2D laser reflection column positioning strong reflection object interference rejection algorithm |
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| CN202310390973.XA CN116609756A (en) | 2023-04-13 | 2023-04-13 | 2D laser reflection column positioning strong reflection object interference rejection algorithm |
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