CN207529026U - A kind of 2.5D laser scanning devices and mobile robot - Google Patents
A kind of 2.5D laser scanning devices and mobile robot Download PDFInfo
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- CN207529026U CN207529026U CN201721323322.5U CN201721323322U CN207529026U CN 207529026 U CN207529026 U CN 207529026U CN 201721323322 U CN201721323322 U CN 201721323322U CN 207529026 U CN207529026 U CN 207529026U
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Abstract
The utility model provides a kind of 2.5D laser scanning devices.The device includes two-dimensional laser radar, horizontal positioned moving platform and the silent flatform placed vertically；Guide rail is set on silent flatform；Two-dimensional laser radar is fixed on moving platform, and moving platform is driven by motor and moved along the rail in the vertical direction perpendicular to horizontal plane.The installation cost is low, two dimensional surface information can not only be obtained, and a certain range of elevation information can be obtained, increase laser data information content, as the location navigation Functional Unit of mobile robot especially effective scene Recognition and detection can be carried out when mobile work robot is in extensive indoor environment, the scene for having repeatability larger etc..
Description
Technical field
It is led the present invention relates to laser scanner technique field more particularly to a kind of 2.5D laser scanning devices and its as positioning
The functional unit that navigates is used for mobile robot.
Background technology
Mobile robot has a wide range of applications demand in fields such as warehouse logistics, moving operations.Location and navigation technology is
A key technology of mobile robot.Different according to used sensor during navigation, method can be divided into based on laser
Navigation and view-based access control model navigation.Due to the strong antijamming capability of laser sensor, information is accurate, therefore the side based on laser
Method is widely used in Mobile Robotics Navigation.
Location navigation based on laser is the information for the laser sensor that mobile robot is carried by acquisition, by passing
The processing of sensor information determines the position of road sign point and robot in the environment in environment with analysis, so as to fulfill structural environment
The process of the functions such as map, path planning, autonomous and avoidance.Compared with the navigation of view-based access control model sensor, laser sensing
Utensil has signal stabilization, is not easy to be illuminated by the light the characteristics of variation influences.Although the in addition, navigation sensor information of view-based access control model image
It is comparatively abundant, but computing cost during actual motion is very big, and the real-time of algorithm is not easy to ensure.
In view of an important applied field of mobile robot is operated in indoor environment such as family, factory's scene
Service robot or factory's automated guided vehicle (AGV), the people and object under the space are substantially perpendicular to the ground, therefore
Indoor environment is passed through obtains plane information parallel to the ground to realize navigation frequently with two-dimensional laser radar.But two-dimensional laser radar
The angle and distance of the point on the sensor plane of scanning motion can only be obtained, information content is more single, in extensive environment or scene
The identification of scene cannot be completed in the case of complex well.Though it is usually used in the three-dimensional laser radar in outdoor environment at present
Right information content is relatively large, but response speed is slow, expensive, and navigates in general not for the indoor environment of individual layer
Need whole three-dimensional informations of acquisition environment.
Utility model content
The utility model provides a kind of 2.5D laser scanning devices, have it is at low cost, two dimensional surface can not only be obtained
Information, and a certain range of elevation information can be obtained.
The technical solution of the utility model is：A kind of 2.5D laser scanning devices, including two-dimensional laser radar, horizontal positioned
Moving platform and the silent flatform placed vertically；
Guide rail is set on silent flatform；Two-dimensional laser radar is fixed on moving platform, moving platform by motor drive perpendicular to
The vertical direction of horizontal plane moves along the rail；
During working condition, two-dimensional laser radar scanning two dimensional surface obtains plane information, from the extracting data angle obtained
Points And lines segment information；The location information of vertical direction is acquired by position signal acquisition unit；Vertical side is combined by plane information
To location information, extract space characteristics.
The space characteristics include the feature of space rib, space plane and space mutation etc..
Preferably, the motor includes stator and mover, mover is fixedly connected with moving platform, mover phase during working condition
It moves along a straight line to stator, moving platform is driven to move along a straight line.
As a kind of mounting means, silent flatform includes horizontal positioned pedestal and the pedestal backboard being disposed vertically, the pedestal back of the body
Guide rail is set on plate, and the stator of motor is fixedly connected with pedestal.
As a kind of mounting means, moving platform includes horizontal positioned moving platform pedestal and the moving platform being disposed vertically is carried on the back
Plate, two-dimensional laser radar are fixed on moving platform bottom plate, and moving platform pedestal is fixedly connected with moving platform backboard, and moving platform backboard leads to
It crosses ball bearing and guide rail is connect with silent flatform.
As a kind of realization method, position signal acquisition unit is grating encoder, including the volume being fixed on silent flatform
Code device read head and the grating scale being arranged on moving platform backboard, the mounting distance between grating scale and encoder head should expire
The normal requirement of sufficient grating encoder work, voice coil motor driver read the position signal of vertical direction using grating encoder
It is fed back.
The scan frequency of two-dimensional laser radar is known as scan frequency in the utility model, the frequency of vertical direction movement claims
For motion frequency.Scan frequency can be configured by two-dimensional laser radar, and motion frequency can be carried out by motor driven systems
It adjusts.In view of the synchronization of information, scan frequency motion frequency is advisable more than motion frequency；Further, scan frequency is fortune
The integer multiple of dynamic frequency is advisable.The utility model also proposes a kind of processing method realized data and synchronized, specific as follows：
1) when scan frequency is less than 10 times of motion frequency, each data for being obtained to two-dimensional laser radar single pass
The location information of point and vertical direction synchronizes.
2) when scan frequency is more than or equal to 10 times of motion frequency, it is believed that two-dimensional laser radar single pass obtains
Data in same vertical position height, and according to this principle carry out data synchronization.
Situation 2) is planted for above-mentioned the, triggering can be exported by the synchronous signal line of laser radar to motor driver
The synchronization of data is realized in encoder information sampling.Laser radar generally carries the output of data synchronizing signal, motor driver one
As carry input and output I/O mouths, also can pass through RS232 interface or CAN bus reading encoder information.Pass through microcontroller
External interrupt realization once samples motor encoder when radar each scan period starts.
Therefore, scan frequency is more than or equal to 10 times of motion frequency and is advisable.
In the utility model, two-dimensional laser radar moves in the vertical direction through motor driving, increases in the data of acquisition
Information in vertical height.But since the error of mechanical movement will necessarily make collected data introduce some noises, because
This method for taking filtering, which removes noise and interference, to be advisable.As a kind of realization method, the process of filtering comprises the steps of：
1) due at the minimum and maximum displacement in moving platform motion process motor movement direction change, cause herein
Error it is larger, therefore the data in the displacement neighborhood may contain larger noise, preferably directly removed.
2) for the data being among motion process, the data of gained have in the plane planted agent of the radar scanning in principle
Have continuity, if therefore there is the situation of individual data point drift, preferably the point is rejected.
3) to eliminate the high frequency error caused by mechanical oscillation, it is preferred to use low-pass filter carries out at noise reduction data
Reason.
As a kind of realization method, the location information of plane information combination vertical direction obtains spatial positional information, such as
Three-dimensional position coordinates or the data that can completely describe current scan point 2.5D location informations that encode otherwise to get to
2.5D laser datas then by feature extraction and matching algorithm, obtain space characteristics.The space characteristics include space
The feature of rib, space plane and space mutation etc..
The utility model also proposes a kind of method of feature extraction, including extracting space rib, sky from 2.5D laser datas
Between plane and space mutation etc. features, this method using laser radar single sweep operation plane characteristic combine multiple planes of scanning motion
Space geometry relationship, i.e., by the extracting data angle point of laser radar single sweep operation plane and line segment information, swept with reference to multiple
The geometrical relationship of plane is retouched, obtains the space rib and plane characteristic of data.
By obtaining characteristic point after feature extraction, characteristic matching is then carried out by matching algorithm.The utility model also carries
Go out a kind of method of characteristic matching, include the following steps：
1) certain platform is moved under the line knead dough Feature Conversion to changing coordinates extracted in the half period；
It 2) will be under the data projection to changing coordinates in half period last time；
3) corresponding points of twice sweep are found using suitable matching process, such as the searchings such as method of KD-Tree are twice
The corresponding points of scanning calculate spin matrix.
Compared with prior art, the utility model combination two-dimensional laser radar, drive and control of electric machine and bindiny mechanism obtain
To 2.5D laser scanning devices, 2.5D scanning ranges are realized.Compared with visual sensor alignment system, which remains sharp
Optical signal is stable, is not easy to be illuminated by the light the characteristics of variation influences；Compared with traditional two-dimensional laser radar, sensor 2.5D's sweeps
It retouches range and increases laser data information content；Compared with existing three-dimensional laser radar in the market, the sensor is cheap, rings
Answer speed fast, accuracy is high.
The device can be used for the location navigation of mobile robot, that is, a kind of mobile robot, location navigation functional unit
It is 2.5D laser scanning devices of the present invention.The device is fixedly mounted in mobile robot, two can not only be obtained
Dimensional plane information, and a certain range of elevation information can be obtained, repeatability is encountered compared with large scene for extensive indoor environment
When two-dimensional laser radar can not carry out effective scene Recognition with detection the problem of provide a kind of preferable solution.
Description of the drawings
Fig. 1 is the structure diagram of the 2.5d laser scanning platforms in the utility model embodiment 1；
Fig. 2 is the laser radar single sweep operation data in the utility model embodiment 1；
Fig. 3 be laser radar single sweep operation in the utility model embodiment 1 to a plane in corner feature；
Fig. 4 is the example of the plane that the laser radar scanning in the utility model embodiment 1 arrives and rib；
Fig. 5 is the data instance of the laser radar scanning in the utility model embodiment 1.
Term
As used herein, term " laser radar " and " two-dimensional laser radar " are used interchangeably, and refer to common scanning range
For the Laser Distance Measuring Equipment of two dimensional surface, the information read from the equipment is planar point, includes angle and distance.
As used herein, term " laser platform " is generally used in conjunction in the utility model with " 2.5d ", refers to the utility model
The integrated mechanism with z orientation measurement ranges proposed.
Used herein, term " point cloud " " 2.5d points cloud " may be used interchangeably, refer to space three-dimensional information (X, Y, Z)
The set of point is the data that 2.5d laser platforms return in the utility model.
In the utility model, the laser data obtained in half of period of motion for defining motor is one " data frame ",
The result of two-dimensional laser radar Multi Slice Mode should be included in " frame data ".
As used herein, term " filtering " " noise reduction " " removal noise " may be used interchangeably, and refers to and eliminates 2.5d laser sensings
The method or process of the error of device data.
Specific embodiment
Below in conjunction with attached drawing, embodiment is described in further details the utility model.It should be pointed out that as described below
Embodiment is intended to convenient for the understanding to the utility model, and does not play any restriction effect to it.
Reference numeral in Fig. 1 is：Voice coil motor 1, two-dimensional laser sensor 2, moving platform pedestal 3, pedestal 4, the pedestal back of the body
Plate 5, moving platform backboard 6, grating scale 7, guide rail 8
Fig. 1 is the structure diagram of the 2.5d laser scanning platforms in the present embodiment, including voice coil motor 1, two-dimensional laser
Radar 2, horizontal positioned moving platform bottom plate 3, silent flatform 5 and the moving platform backboard 6 placed vertically.
The stator of voice coil motor 1 is fixed with base platform 4 by screw, and the mover and moving platform pedestal 3 of voice coil motor 1 are logical
Screw is crossed to fix.Two-dimensional laser radar 2 is fixed on moving platform pedestal 3.Guide rail 8 is set on silent flatform 5.Moving platform pedestal 3 with
Moving platform backboard 6 is fixedly connected, and moving platform backboard 6 is connect by ball bearing and guide rail 8 with silent flatform 5.
The scanning range of two-dimensional laser radar 2 is the plane parallel with horizontal plane, obtains plane information, from the data obtained
Middle extraction angle point and line segment information.The drive system of voice coil motor 1 changes electric mover coil current, make mover generate perpendicular to
Displacement on the vertical direction of horizontal plane drives moving platform to be moved along the rail in vertical direction, so as to make to be located on moving platform
Two-dimensional laser radar increases the scanning range on vertical direction.
Encoder head on silent flatform 5 is set, grating scale 7 is set on moving platform backboard 6, forms grating encoder for erecting
Acquisition of the Nogata to position signal, the mounting distance between grating scale 7 and encoder head are meeting grating encoder work just
Often requirement.The position signal that voice coil motor driver reads vertical direction using grating encoder is fed back.
In the present embodiment, the Hokuyo two-dimensional laser radars of Bei Yang companies of Japan production, the frequency of the laser sensor are selected
Rate is 40Hz, and finding range 40m is fixed by screw and moving platform pedestal 3.The sensor has the function of signal synchronization, band
There is the output interface of synchronizing signal.Laser radar is powered by 12V power supplys, and is passed through USB line and transmitted communication data with PC.
System is driven using position signal feedback access programmable driver of the grating scale encoder as motor, programming Control
The frequency that dynamic voice coil motor moves up and down is 2Hz, and the maximum displacement of movement is 2.5mm.Define half of period of motion of voice coil motor
For primary " scanning ", the measurement data of 20 circle Hokuyo can be obtained.
Using AT companies stm32 development board as slave computer signal Synchronization Control plate, industrial personal computer connects as host computer
Receive laser radar data and synchronizing signal.
Encoder A, B phase signals and stm32 single-chip processor i/os mouth that the synchronizing signal of Hokuyo and driver are exported connect
It connects, it is synchronous with laser radar data that encoder is carried out by way of interruption.I.e. when Hokuyo synchronous signal lines export one
The current displacement that encoder returns is recorded during rising edge, the elevation information of the data point as next circle scanning, and pass through serial ports
It is sent to host computer.The signal wire of Hokuyo is connected by USB port with host computer.When host computer receives a position of stm32
During information, the beginning of the new circle scannings of Hokuyo is represented, the data of two-dimensional laser radar next received are stored in one
In a array, while corresponding its elevation information of storage.
Driver exports a pulse signal to stm32 controls to every half of voice coil motor period of motion (i.e. primary " scanning ") afterwards
Making sheet, control panel detect the pulse and send a data processing instructions to host computer.Host computer is received after the instruction to 20
Circle laser radar data is filtered, the 2.5d point cloud datas that finally obtain that treated, as shown in Fig. 2, wherein single line number
According to as shown in Figure 3.
By carrying out feature extraction to the angle point in single line feature and line segment, space characteristics are carried out according to angle point and line segment
Extraction.Using document：J.Zhang and S.Singh,“LOAM:Lidarodometry and mapping in real-
time,”in Robotics:It is as follows described in Science and Systems Conference (RSS), July 2014.
Formula：
I-th of voice coil motor is moved to the point cloud obtained in the half period (i.e. primary " scanning ") to be denoted as in formulaWherein contain
20 laser Single-wire datas having are denoted asRemember pjForIn j-th point, in world coordinate system
Coordinate be
If certain point p in scanningjIt is an angle point, then should meets following condition：
1)pjThe N number of point in left side should be located along the same line
2)pjThe N number of point in right side should be located along the same line
It then can be right according to above-mentioned formulaIn point screened, it is angle point that c, which takes point during extreme value,.
Each single frames laser point is screened, angle point information and line segment information are obtained, as shown in figure 4, then by K+1
The information of frame is projected to K frame coordinates, the search characteristics point by way of KD-Tree.The plane angle point and rib extracted is such as
Shown in Fig. 5.
The technical solution of the utility model is described in detail in embodiment described above, it should be understood that above institute
Only specific embodiment of the utility model is stated, is not intended to limit the utility model, all spirits in the utility model
Interior done any modification, supplement or similar fashion replacement etc., should be included within the scope of protection of this utility model.
Claims (8)
1. a kind of 2.5D laser scanning devices, it is characterized in that：Including two-dimensional laser radar, horizontal positioned moving platform and vertical
The silent flatform of placement；
Guide rail is set on silent flatform；Two-dimensional laser radar is fixed on moving platform, and moving platform is driven by motor perpendicular to level
The vertical direction in face moves along the rail.
2. 2.5D laser scanning devices as described in claim 1, it is characterized in that：The motor includes stator and mover, work
Mover relative stator moves along a straight line during state；Mover is fixedly connected with moving platform.
3. 2.5D laser scanning devices as claimed in claim 2, it is characterized in that：Silent flatform includes horizontal positioned pedestal with hanging down
The pedestal backboard directly placed sets guide rail on pedestal backboard；The stator of motor is fixedly connected with pedestal.
4. 2.5D laser scanning devices as claimed in claim 3, it is characterized in that：Moving platform includes horizontal positioned moving platform bottom
Seat is fixed on the moving platform backboard being disposed vertically, two-dimensional laser radar on moving platform bottom plate, and moving platform pedestal is carried on the back with moving platform
Plate is fixedly connected, and moving platform backboard is connect by ball bearing and guide rail with silent flatform.
5. 2.5D laser scanning devices as described in claim 1, it is characterized in that：Position signal acquisition unit is further included, is used for
Acquire the location information of vertical direction.
6. 2.5D laser scanning devices as claimed in claim 5, it is characterized in that：Position signal acquisition unit is grating encoding
Device, including the encoder head being fixed on silent flatform and the grating scale being arranged on moving platform backboard.
7. 2.5D laser scanning devices as claimed in claim 5, it is characterized in that：Two-dimensional laser radar scanning two dimensional surface obtains
Plane information with the location information for the vertical direction that position signal acquisition unit acquires is combined and is extracted space characteristics packet
Include the feature of space rib, space plane and space mutation.
8. a kind of mobile robot, positioning navigation device is the 2.5D laser described in any claim in claim 1 to 7
Scanning means.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107608074A (en) * | 2017-10-13 | 2018-01-19 | 中国科学院宁波材料技术与工程研究所 | A kind of 2.5D laser scanning devices and its application |
| CN110001536A (en) * | 2019-03-29 | 2019-07-12 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | A kind of onboard sensor adjusting seat and onboard sensor device |
-
2017
- 2017-10-13 CN CN201721323322.5U patent/CN207529026U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107608074A (en) * | 2017-10-13 | 2018-01-19 | 中国科学院宁波材料技术与工程研究所 | A kind of 2.5D laser scanning devices and its application |
| CN110001536A (en) * | 2019-03-29 | 2019-07-12 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | A kind of onboard sensor adjusting seat and onboard sensor device |
| CN110001536B (en) * | 2019-03-29 | 2024-05-14 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Vehicle-mounted sensor adjusting seat and vehicle-mounted sensor device |
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Effective date of registration: 20210528 Address after: 315300 room 311, 3 / F, building B, No. 2588, Sanbei street, Baisha street, Cixi City, Ningbo City, Zhejiang Province Patentee after: Ningbo Zhongke Aomi robot Co.,Ltd. Address before: 315201 No. 1219 Zhongguan West Road, Zhenhai District, Ningbo City, Zhejiang Province Patentee before: NINGBO INSTITUTE OF MATERIALS TECHNOLOGY & ENGINEERING, CHINESE ACADEMY OF SCIENCES |