CN204718615U - A kind of restructural indoor mobile robot navigation performance assessment instrument - Google Patents
A kind of restructural indoor mobile robot navigation performance assessment instrument Download PDFInfo
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- CN204718615U CN204718615U CN201520470568.XU CN201520470568U CN204718615U CN 204718615 U CN204718615 U CN 204718615U CN 201520470568 U CN201520470568 U CN 201520470568U CN 204718615 U CN204718615 U CN 204718615U
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- mobile robot
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Abstract
The utility model relates to a kind of restructural indoor mobile robot navigation performance assessment instrument, comprises alignment sensor, Digital Photogrammetric System, computing machine, mobile robot and is arranged at the measurement target on mobile robot; Described alignment sensor is all connected with computing machine with Digital Photogrammetric System; Described alignment sensor is arranged at above test environment or side.In the utility model, multiple stage alignment sensor can carry out reconfiguring the test environment adapting to different area size, is applicable to the indoor mobile robot navigation performance test of the large, medium and small model of volume.
Description
Technical field
The utility model relates to Mobile Robotics Navigation performance index assessment device, particularly a kind of restructural indoor mobile robot navigation performance assessment instrument, belongs to test and control field.
Background technology
Robot industry has become the emerging strategic industries that countries in the world are shown great attention to, and multiple country has proposed robot development national strategy, promotes research and development and the innovation of national robot and autonomous system technology.The how quality of detecting and assessing robot, to mentioning robot performance and applying significant.China is actively establishing Quality Supervision and Inspection Center of people from state apparatus.Autonomous navigation technology realizes the most key technology of robot one of autokinetic movement ability in circumstances not known, and the detecting and assessing of autonomous navigation technology ability is the core content advancing autonomous system technical development.
At present, systematic autonomous mobile platform performance test and evaluation study work in world wide, be only embodied in American National Standards Institute emergency response robot testing and unmanned vehicle contest vehicle performance evaluates and tests 2 aspects.American National Standards Institute has carried out the research project of an emergency response robotic standard method of testing for 2005, and its target is development machines people performance testing standard.Relate to the task such as corridor, labyrinth map structuring, sparse features labyrinth map structuring of navigation performance test event main random labyrinth, complicated landform.The core evaluating robot navigation performance is track path, distinguishing mark carry out difference response, and target traversal degree and the time of finishing the work are the leading indicators of performance evaluation.The all previous unmanned vehicle challenge matches held in world wide directly will arrive destination as performance assessment criteria safely and fast, carry out scoring come evaluate safety, stationarity, intelligent and speed index by laws of the game judge group.
Documentary investigation result shows: how performance that is quantitative, objective appraisal airmanship still lacks relevant special measurement equipment.
Utility model content
Under solving indoor big-bang testing environment, Mobile Robotics Navigation performance index test and appraisal problem, the utility model provides a kind of Mobile Robotics Navigation performance evaluating instrument with reconfigurable ability.
The technical scheme that the utility model is adopted for achieving the above object is: a kind of restructural indoor mobile robot navigation performance assessment instrument, comprises alignment sensor, Digital Photogrammetric System, computing machine, mobile robot and be arranged at the measurement target on mobile robot; Described alignment sensor is all connected with computing machine with Digital Photogrammetric System; Described alignment sensor be arranged at test zone above or side.
Described alignment sensor is multiple; Multiple alignment sensor is longitudinal and/or transversely arranged.
The search coverage of described alignment sensor has overlapping with the search coverage of adjacent alignment sensor.
Described measurement target is two, is fixed on mobile robot by measuring truss.
Described measurement truss comprises support and expansion link; Expansion link is fixed on mobile robot by support level; Expansion link two ends are fixed with measurement target respectively.
Described measurement target comprises hemisphere and is evenly arranged at multiple reflecting targets on its surface.
The utility model has following beneficial effect and advantage:
1, in the utility model, multiple stage formula alignment sensor can carry out reconfiguring the test environment adapting to different area size.
2, the measurement truss of the utility model employing is scalable, demarcates simple, is applicable to the indoor mobile robot navigation performance test of the large, medium and small model of volume.
3, the utility model has the advantages such as measuring accuracy is high, dynamic perfromance is good, horizontal positioning accuracy ± 1 centimetre, precision ± 0.6 degree, course.
4, the utility model relates to a kind of restructural indoor mobile robot navigation performance evaluation and test instrument, realizes measurement and the comprehensive assessment of Mobile Robotics Navigation performance, provides the foundation of science, promote the innovation of robot and autonomous system.
Accompanying drawing explanation
Fig. 1 is system composition diagram of the present utility model.
Fig. 2 is multiple stage alignment sensor restructural schematic diagram.
Fig. 3 is the multiple stage alignment sensor restructural schematic diagram under irregular testing environment.
Fig. 4 is that measurement truss-frame structure of the present utility model shows shortening view.
Fig. 5 measurement truss-frame structure of the present utility model elongation state schematic diagram.
Fig. 6 is that the tested robot location of arbitrary neighborhood two alignment sensors determines schematic diagram.
Wherein, 1, alignment sensor, 2, Digital Photogrammetric System, 3, computing machine, 4, mobile robot, 5, measure target, 6, measure truss, 7, support, 8, expansion link, 9, reflecting target, 10, target mount pad, 11, linear bearing.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
Fig. 1 is restructural indoor mobile robot navigation performance assessment instrument composition diagram, comprises multiple alignment sensor, measures truss, Digital Photogrammetric System and computing machine.Alignment sensor, Digital Photogrammetric System adopt private cable to be connected with computing machine.Fig. 1 composition diagram only gives 2 alignment sensor arrangenent diagrams.
Alignment sensor, for following the tracks of reflecting target identity device, accurately measures the position of reflecting target; Adopt dual camera sensor (Handyprobe780, Creaform Inc.Canada).Dual camera sensor is located at top or the side of test zone, can carry out the test environment of arbitrary serial, parallel arranged combination adaptation any range, there is measurement overlap area territory between two alignment sensors of arbitrary neighborhood.Between adjacent positioned sensor, the position of tested robot is determined by the demarcation target position being placed on overlapping region.
Fig. 2 is multiple stage alignment sensor restructural schematic diagram, double image head sensor can carry out serial, parallel arranged, the length of measurement range and width are respectively N (4-L)+L, M (4-L)+L (unit is rice), wherein single-station event location sensor measurement scope is 4 meters × 4 meters; Arrange N number of sensor along its length; Arrange M sensor in the width direction; L is the width of two alignment sensor overlapping regions.
Fig. 3 is under irregular testing environment, multiple stage alignment sensor restructural schematic diagram, navigation performance assessment instrument restructural characteristics exhibit described in this patent exists: can position sensor according to the overlay area of test environment and arrange arbitrarily, there is measurement overlap area territory between two alignment sensors that must ensure arbitrary neighborhood during layout.
Fig. 4-5 is extension type measurement framing elevation, as the measurement target of alignment sensor real-time follow-up.Measure truss installa-tion on tested robot body, can according to the volume size of tested mobile robot, the distance of target is measured at adjustment two ends.
As illustrated in figures 4-5, telescopic measurement truss two ends are provided with measurement target, as measurement tested robot flight path and orientation tracking target; Measure truss installa-tion on tested robot body, the size of telescopic structure design change truss can meet the testing requirement of the mobile robot of different volumes size; Measure truss and comprise support and the telescopic target of length direction, two ends are provided with measurement target, measurement target is evenly equipped with 12 reflecting targets and identifies as target following.
Measure truss to be made up of the square box of the target mount pad of four expansion links, both sides and centre, support.One end of two expansion links of truss left/right is connected with target mount pad, and the other end to be connected with the square box of centre by linear bearing and can to move left and right in linear bearing.The left and right sides symmetry of middle square box installs corresponding four expansion links of four linear bearings, and the bottom surface of square box has four threaded holes to be used for installing fixing jackscrew, realizes the locking position of guide pole.When needing the distance adjusting truss two ends target mount pad, unscrewing fixing jackscrew and mount pad is pulled out to inside/outside, after arriving assigned address, fixing jackscrew being tightened fixing expansion link.
Digital Photogrammetric System adopts hand-held Digital Photogrammetric System (MAXShot, Creaform Inc.Canada) i.e. video camera, for the centre distance between the center of calibration measurements target and two targets.
Dual camera sensor real-time follow-up target, obtains the position measuring target.Computer real-time acquisition measures the positional information of target, and calculates flight path and the course of tested robot, adopts the method qualitative assessment robot navigation performance index based on flight path, and generates navigation performance assessment report.
Fig. 6 is that the tested robot location of arbitrary neighborhood alignment sensor determines figure, demarcates by placing in measurement overlap area territory the absolute position that adjacent two alignment sensors determined by target.Wherein, demarcating target is the basic target that high precision position is demarcated.
Computing machine realizes the control of multiple alignment sensor, Digital Photogrammetric System, realize synchro measure and storage, the motion flight path resolving tested robot and the course of reflecting target position, and adopt conventional analytical hierarchy process, mathematical statistics and regretional analysis to obtain setting the scoring of item index; According to the score setting grade of each index, for the test and appraisal to robot navigation's performance.The navigation performance index of tested mobile robot specifically comprises distance barrier mean distance, distance barrier minor increment, distance barrier minor increment mean value, average velocity, velocity distribution, path smooth degree, path, radius-of-curvature, time of finishing the work, machine stop times and time, task coverage and effective exercise time etc.
Between adjacent positioned sensor, the absolute position of robot is determined by the demarcation target position being placed on overlapping region, as shown in Figure 6.Vector S
m,trepresent that measuring arbitrarily moment t measures the absolute position of target m relative to alignment sensor 1; Vector P
m,irepresent and measure the position of target m relative to alignment sensor i; Vector Q
a,j, Q
b,jrepresent respectively and demarcate the position of target j under adjacent two alignment sensor a, alignment sensor b coordinate system; R
a,brepresent the position vector of alignment sensor a relative to alignment sensor b.Therefore, directly obtain according to the position demarcating target
R
a,b=Q
a,j-Q
b,j(formula 1)
When mobile robot experiences i-th alignment sensor, the position vector measuring target m is
S
m,t=∑ R
a,b+ P
m,i(formula 2)
The testing process of restructural indoor mobile robot navigation performance evaluation and test instrument:
1., according to test environment, alignment sensor is configured, guarantees measurement range coverage test environment;
2. demarcation target is placed in adjacent positioned sensor overlapping region, ensures that adjacent two alignment sensors can photograph demarcation target, and determine the relative position relation of adjacent positioned sensor according to formula 1:
Optional a bit fixing demarcation target in the detection overlapping region of each adjacent two alignment sensors (a, b), the vector position relation between these two alignment sensors is as follows:
R
a,b＝Q
a,j-Q
b,j
Wherein, (a, b) characterizes the alignment sensor pair with overlapping region; R
a,brepresent the position vector of alignment sensor b relative to alignment sensor a; Vector Q
a, j, Q
b,jrepresent respectively and demarcate the position of target j under alignment sensor a, alignment sensor b coordinate system.
3. tested robot sails in test environment, and hand-held Digital Photogrammetric System assembles photo to the many groups of measurement truss shooting, obtains the relative position relation D measuring Target Center and each reflecting target
m,k, and truss on measure distance D between Target Center
d.
4. tested robot carries out programming movement according to predetermined task, and by test environment, restructural indoor mobile robot navigation performance evaluation and test instrument will determine the position S measuring target according to formula 2
m,t.When mobile robot is through alignment sensor i, i+1 overlapping region, adopt the average measuring target position in alignment sensor i, i+1 as the position S measuring target
m,t.Concrete steps are as follows:
First when in the measured zone that mobile robot enters alignment sensor i, according to the position L of the reflecting target k that alignment sensor i collects
m,k(m=1,2) and each reflecting target are relative to the position D of this measurement Target Center
m,k, ensure error
under minimum condition, least square method is adopted to obtain the position vector P of this measurement target relative to alignment sensor i
m,i; K is the number of the reflecting target that alignment sensor i can collect, in the course of work, and K>=3;
Then according to the position P of measurement target m in alignment sensor i
m,iwith the relative position R of experienced a n alignment sensor
a,b, the absolute position of computation and measurement target m: S
m,t=∑ R
a,b+ P
m,i, i>=2; N is the number of overlapping region;
Vector S
m,trepresent that measuring arbitrarily moment t measures the absolute position of target m relative to alignment sensor 1; Vector P
m,irepresent the position of measurement target drone m relative to alignment sensor i; R
a,brepresent the position vector of alignment sensor b relative to alignment sensor a.
5. the positional information of computing machine real time record measurement target drone, according to measuring arbitrarily the position S that moment t measures target
m,t, directly obtain the position vector S of mobile robot
1, tand S
2, t, and characterize the vector S of robot course angle
1, t– S
2, t, wherein position vector S
1, tor S
2, tset as flight path.In conjunction with test environment element characteristic, adopt analytical hierarchy process, mathematical statistics and regression analysis to realize the assessment of navigation performance index, finally generate test report.
Claims (6)
1. a restructural indoor mobile robot navigation performance assessment instrument, is characterized in that: the measurement target (5) comprising alignment sensor (1), Digital Photogrammetric System (2), computing machine (3), mobile robot (4) and be arranged on mobile robot (4); Described alignment sensor (1) is all connected with computing machine (3) with Digital Photogrammetric System (2); Described alignment sensor (1) be arranged at test zone above or side.
2. a kind of restructural indoor mobile robot navigation performance assessment instrument according to claim 1, is characterized in that described alignment sensor (1) is for multiple; Multiple alignment sensor is longitudinal and/or transversely arranged.
3. a kind of restructural indoor mobile robot navigation performance assessment instrument according to claim 2, is characterized in that the search coverage of described alignment sensor (1) has overlapping with the search coverage of adjacent alignment sensor.
4. a kind of restructural indoor mobile robot navigation performance assessment instrument according to claim 1, is characterized in that described measurement target (5) is two, is fixed on mobile robot (4) by measuring truss (6).
5. a kind of restructural indoor mobile robot navigation performance assessment instrument according to claim 4, is characterized in that described measurement truss (6) comprises support (7) and expansion link (8); Expansion link (8) is fixed on mobile robot (4) by support (7) level; Expansion link (8) two ends are fixed with respectively measures target (5).
6. a kind of restructural indoor mobile robot navigation performance assessment instrument according to claim 1 or 4, is characterized in that described measurement target (5) comprises hemisphere and is evenly arranged at multiple reflecting targets (9) on its surface.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106312497A (en) * | 2016-08-11 | 2017-01-11 | 成都九系机器人科技有限公司 | High-precision navigation entering system and use method thereof |
| CN106323335A (en) * | 2015-07-02 | 2017-01-11 | 中国科学院沈阳自动化研究所 | Reconfigurable indoor mobile robot navigation performance evaluation instrument and evaluation method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106323335A (en) * | 2015-07-02 | 2017-01-11 | 中国科学院沈阳自动化研究所 | Reconfigurable indoor mobile robot navigation performance evaluation instrument and evaluation method thereof |
| CN106323335B (en) * | 2015-07-02 | 2023-05-02 | 中国科学院沈阳自动化研究所 | Reconfigurable indoor mobile robot navigation performance evaluation instrument and evaluation method thereof |
| CN106312497A (en) * | 2016-08-11 | 2017-01-11 | 成都九系机器人科技有限公司 | High-precision navigation entering system and use method thereof |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151021 Termination date: 20190702 |
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| CF01 | Termination of patent right due to non-payment of annual fee |