CN108161886A - Map Construction Robot Based on Laser Scanning and Kalman Filtering Technology - Google Patents

Abstract

The invention discloses a map construction robot based on laser scanning and Kalman filtering technologies, and relates to the technical field of robots. The robot comprises a motion platform, a control mainboard, an ultrasonic sensor and a 360-degree laser scanning range radar, wherein the control mainboard is positioned on the motion platform, a driving module is arranged on the motion platform, and the driving module is controlled by the control mainboard; the ultrasonic sensors are connected with the control main board in a bidirectional mode and used for measuring the distance between the motion platform and the obstacle; the 360-degree laser scanning range radar is positioned on the motion platform and is in bidirectional connection with the control main board; the control main board is used for controlling the motion platform to carry out obstacle avoidance motion according to the information sensed by the ultrasonic sensor and carrying out map construction according to the information measured by the 360-degree laser scanning range radar. The robot can reflect the environmental characteristics more completely and accurately, and the working efficiency of the robot is improved.

Description

Map Construction Robot Based on Laser Scanning and Kalman Filtering Technology

technical field

The invention relates to the technical field of robots, in particular to a map construction robot based on laser scanning and Kalman filter technology.

Background technique

Modern architecture considers factors such as aesthetics. Office buildings and living rooms are often decorated with glass doors and windows, and most existing service robots use infrared sensors to achieve obstacle avoidance. The infrared sensor obstacle avoidance robot cannot accurately identify transparent glass, and then needs to rely on the contact between the pressure sensor and the transparent glass to achieve sexual contact obstacle avoidance, resulting in low work efficiency of the robot; and the robot is easily affected by the glass when building an indoor map. The influence of site factors such as walls, windows, and glass decorations reduces the authenticity of the map construction system.

In terms of map construction of existing mobile robots, due to uncertain factors such as terrain and illumination, the external information obtained through the sensor system often has large data errors, and the data cannot be processed effectively, so that the robot cannot obtain effective environmental features, resulting in The inaccuracy and incompleteness of map construction. Most of the existing mobile robots used in the field of map construction are various wheeled robots. Compared with tracked robots, wheeled robots have low adaptability to uneven or sandy environments, and cannot walk easily. Convenience, the efficiency of performing tasks is greatly reduced; and wheeled robots need to use more drive motors than crawler robots, and the cost is relatively high.

Contents of the invention

The technical problem to be solved by the present invention is how to provide a map building robot based on laser scanning and Kalman filtering technology that can reflect the environmental characteristics more completely and accurately and improve the working efficiency of the robot.

In order to solve the above technical problems, the technical solution adopted by the present invention is: a map construction robot based on laser scanning and Kalman filter technology, characterized in that it includes a motion platform, a control board, an ultrasonic sensor and a 360° laser scanning ranging For the radar, the control main board is located on a motion platform, and a drive module is arranged on the motion platform, and the drive module is controlled by the control main board, and the drive module is used to drive the movement of the motion platform; the ultrasonic sensor is provided with Several, arranged in an arc on the moving platform, bidirectionally connected with the control board, for measuring the distance between the moving platform and obstacles; the 360° laser scanning ranging radar is located on the moving platform, Two-way connection with the control board, used to collect obstacle information around the robot; the control board is used to control the motion platform to perform obstacle avoidance movement according to the information sensed by the ultrasonic sensor and according to the 360° laser Scan the information measured by the ranging radar for map construction.

A further technical solution is: the motion platform includes two crawler belts, four toothed wheels, two toothed wheel fixing parts, two motor fixing parts, two 12V belt deceleration motors, two 90° angle codes, two The root beam, the lower plate and the upper plate; the toothed wheels are respectively arranged at the two ends of the toothed wheel fixed part and the toothed wheel at the rear end is rotatably connected with the toothed wheel fixed part; the track and the toothed wheel wheel fit; the two 12V motors with deceleration are distributed diagonally, and are connected to the toothed wheel fixing member in a threaded manner through the motor fixing member, and the power output end of the motor is fixedly connected to the toothed wheel on the front side The two beams are connected to the toothed wheel fixtures on both sides in a threaded manner through a 90° angle code; the loading plate is arranged above the beam, and the through hole of the loading plate is coaxially matched with the through hole of the beam; The upper loading board is connected to the lowering board through a strut; the control main board controls the action of the motor through a motor driving board.

A further technical solution is: the control main board is fixed on the download board.

A further technical solution is: one end of the elliptical shape of the upper carrier board is set to face the front of the robot; there are five ultrasonic sensors, of which three ultrasonic sensors are evenly distributed in the fan-shaped area of the upper carrier board, one of which faces the front of the robot , in addition, two ultrasonic sensors are respectively arranged in the left and right directions of the upper board, and are located in the middle of the sideline; the 360° laser scanning ranging radar is arranged in the center of the upper board.

Preferably, the control board uses the third-generation Raspberry Pi main board.

A further technical solution is: a short-distance wireless communication module is arranged on the Raspberry Pi III motherboard.

Preferably, the short-distance wireless communication module includes a Bluetooth module and a WIFI module.

The beneficial effects of adopting the above technical solution are: the robot adopts the crawler structure as the execution structure, so that the robot has a better ability to overcome obstacles, is suitable for map construction in various complex environments, and has good stability; adopts laser scanning technology The data acquisition and processing system integrated with Kalman filter technology takes advantage of the advantages of fast scanning speed and dense and accurate data points of laser scanners to comprehensively obtain environmental measurement information. Combined with Kalman filter technology, the accuracy of data is effectively improved. It realizes that the measurement information tends to be more real, and can reflect the environmental characteristics more completely and accurately; the ultrasonic ranging system is added to integrate the ultrasonic ranging information, so that the robot can automatically adjust the walking route in the environment, reducing the situation of the robot walking roundabout, Improve the working efficiency of the robot; the mutual assistance of various sensors can provide the mobile robot with rich environmental information and then realize the subsequent autonomous positioning function of the robot.

Description of drawings

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Fig. 1 is the structural representation of the robot described in the embodiment of the present invention;

Fig. 2 is a structural schematic diagram of another perspective of the robot described in the embodiment of the present invention;

Fig. 3 is the schematic circuit diagram of the robot described in the embodiment of the present invention;

Among them: 1. Track 2. Toothed wheel 3. Toothed wheel fixing part 4. Motor fixing part 5. 12V belt deceleration motor 6. 90° angle code 7. Beam 8. Download board 9. Control board 10. Motor drive board 11. Strut 12, upper board 13, ultrasonic sensor 14, 360° laser scanning ranging radar.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the following description, a lot of specific details are set forth in order to fully understand the present invention, but the present invention can also be implemented in other ways different from those described here, and those skilled in the art can do it without departing from the meaning of the present invention. By analogy, the present invention is therefore not limited to the specific examples disclosed below.

As shown in Figures 1-2, the embodiment of the present invention discloses a map construction robot based on laser scanning and Kalman filter technology, including a motion platform, a control board 9, an ultrasonic sensor 13 and a 360° laser scanning ranging radar 14 . Described control main board 9 is positioned on motion platform, is provided with drive module on the motion platform, and described drive module is controlled by described control main board 9, and described drive module is used for driving described motion platform motion; Described ultrasonic sensor 13 is provided with There are several, arranged on the moving platform in an arc shape, bidirectionally connected with the control board, for measuring the distance between the moving platform and obstacles; the 360° laser scanning ranging radar 14 is located on the moving platform It is bidirectionally connected with the control board 9 for collecting obstacle information around the robot; The information measured by the 360° laser scanning ranging radar 14 is used for map construction.

As shown in Figures 1-2, the motion platform includes two crawler belts 1, four toothed wheels 2, two toothed wheel fixing parts 3, two motor fixing parts 4, two 12V belt deceleration motors 5, Two 90° angle codes 6, two beams 7, a lower plate 8 and an upper plate 12; the toothed wheels 2 are respectively arranged at both ends of the toothed wheel fixture 3 and the toothed wheels 2 at the rear end are connected to the teeth The fixed part 3 of the shaped wheel is rotatably connected; the crawler belt 1 cooperates with the toothed wheel 2; the two 12V belt deceleration motors 5 are distributed diagonally, and are connected to the toothed wheel through the motor fixing part 4 in a threaded manner. On the fixing part 3, the power output end of the motor is fixedly connected to the toothed wheel 2 on the front side; the two beams 7 are connected to the toothed wheel fixing parts 3 on both sides through a 90° angle code 6 in a threaded manner The download board 8 is arranged above the crossbeam 7, and the through hole of the download board 8 is coaxially matched with the through hole of the crossbeam 7; the upper board 12 is connected with the download board 8 through a pole 11; the control main board 9 passes through The motor driving board 10 controls the action of the motor.

The control board 9 is fixed on the download board 8 . One end of the elliptical shape of the upper carrier plate 12 is set towards the front of the robot; the ultrasonic sensors 13 have five in total, and three of them are evenly distributed in the fan-shaped area of the upper carrier plate 12, one of which is towards the front of the robot, and in addition Two ultrasonic sensors 13 are arranged in the left and right directions of the upper board 12 respectively, and are located in the middle of the sideline; the 360° laser scanning ranging radar 14 is arranged in the center of the upper board 12 .

The robot is driven by two 12V deceleration motors, and the positive and negative poles of the 12V deceleration motors are electrically connected to the motor output port of the PWR motor drive board; as shown in Figure 3, the ENA lead of the PWR motor drive board Pin (A channel enable end) is electrically connected to the 16-pin of the Raspberry Pi main board (control board), and the ENB pin (B channel enable end) is electrically connected to the 18-pin of the Raspberry Pi main board. By using the Raspberry Pi GPIO Output 5V level signal to control the output voltage of the enabling end to realize motor acceleration and deceleration; the IN1, IN2, IN3, and IN4 pins of the PWR motor driver board are respectively electrically connected to pins 11, 12, 13, and 15 of the Raspberry Pi mainboard ;Program the Raspberry Pi, configure the input and output states of the pins, set the output PWM value of the 16 and 18 pins to control the speed of the robot, and set the 11 and 12 pins (13 and 15 pins) as mutually exclusive level states to realize the motor control. Forward and reverse, when the rotation direction and rotation speed of the two motors are consistent, the robot will walk in a straight line; when the rotation directions of the two motors are opposite and the rotation speed is the same, the robot will rotate counterclockwise or clockwise, which is turning. Pins 11, 12, 13, and 15 are all False status values, and the robot stops moving.

The Trig pin of the ultrasonic sensor is connected to the GPIO2 (3 pins) of the Raspberry Pi mainboard, and the Echo pin is first connected to a 1k resistor and then further connected to the GPIO3 (5 pins) of the Raspberry Pi mainboard. After connecting the 1k resistor and GPIO3 The line between leads a circuit with a 2k resistor to GND, and the 1k and 2k resistors form a voltage divider circuit, which reduces the voltage of GPIO 3 to about 3.3v; GPIO2 is set to output mode, and GPIO 3 is set to input mode. The Raspberry Pi sends a 10us pulse signal to the Trig pin. After receiving this pulse, HC-SR04 emits an ultrasonic wave, and at the same time sets the Echo to a high level (before transmitting, the Echo is always a low level), and then prepares to receive The returned ultrasonic wave, after receiving the ultrasonic wave, the Echo is at a low level, and the time interval from the ultrasonic wave to the return is obtained, and the distance of the obstacle is further calculated. When the difference between the distances between the two ends of the robot is detected to be stable within a range, the robot moves forward , when the difference between the distances between the two ends exceeds this range, the robot automatically adjusts to the end with the larger detection distance, and the other ultrasonic sensors are connected to other GPIO pins as described above.

Working principle: The present invention uses the crawler mechanism as the motion structure, the Raspberry Pi third-generation motherboard as the control center, and the 360° laser scanning ranging radar and five ultrasonic sensors as the environmental detection sensors, and uses the Raspberry Pi to collect environmental detection data , Based on the Bluetooth transparent transmission technology, the environmental detection data is transmitted from the robot to the PC, based on the Matlab platform and Kalman filter technology to process the data and use the grid model to construct the map.

The 360° laser scanning ranging radar is electrically connected to the raspberry pie third-generation motherboard through a USB cable, and the raspberry pie is connected to the laser scanning ranging radar, and the ip mask and gateway are first set, and then the detection data of the laser radar is collected through program instructions ; Raspberry Pi third-generation motherboard comes with wireless WIFI and Bluetooth modules, establish serial communication on the Raspberry Pi, and transmit the detection data of the laser radar to the PC in the form of Bluetooth transparent transmission; use the host computer software to transmit the detection data in ASCII Format storage, based on the Matlab platform, write a program for data analysis, use the branch structure to read the attributes of each data, and then read the data; combine the Kalman filter algorithm to process the data, first analyze the system state, error covariance, and process noise The covariance of the measurement noise and the covariance of the measurement noise are assigned, and then the Kalman gain, system state and error covariance are iteratively calculated to optimally estimate the system state and obtain the optimal environmental information; and the grid model is used to construct the map, first Initialize the local area grid model, and then perform coordinate conversion, map the coordinates of the obstacle points to the corresponding grid in the grid map, realize the conversion of the laser radar measurement data to the grid map, and then read all the laser radar data in sequence And assign a value to the local grid map to realize rasterization of the environmental data and obtain a grid map.

The robot adopts the crawler structure as the execution structure, so that the robot has better obstacle surmounting ability, is suitable for map construction in various complex environments, and has good stability; it adopts the fusion of laser scanning technology and Kalman filter technology for data collection and processing The system, using the advantages of fast scanning speed and dense and accurate data points of the laser scanner, comprehensively obtains the measurement information of the environment, combined with Kalman filter technology, effectively improves the accuracy of the data, and realizes that the measurement information tends to be more real and can be more accurate. Completely and accurately reflect the environmental characteristics; the ultrasonic ranging system is added to integrate the ultrasonic ranging information, so that the robot can automatically adjust the walking route in the environment, reduce the roundabout walking of the robot, and improve the working efficiency of the robot; a variety of sensors assist each other It can provide rich environmental information to the mobile robot and then realize the subsequent autonomous positioning function of the robot.

Claims (7)

1. a map construction robot based on laser scanning and Kalman filter technology, is characterized in that: comprise motion platform, control mainboard (9), ultrasonic sensor (13) and 360 ° laser scanning ranging radar (14), described The control main board (9) is positioned on the motion platform, and the motion platform is provided with a drive module, and the drive module is controlled by the control main board (9), and the drive module is used to drive the movement of the motion platform; the ultrasonic sensor (13) There are several, arranged in an arc on the moving platform, bidirectionally connected with the control main board, for measuring the distance between the moving platform and obstacles; the 360 ° laser scanning ranging radar (14 ) is located on the motion platform, bidirectionally connected with the control mainboard (9), and is used to collect obstacle information around the robot; the control mainboard (9) is used to The information controls the motion platform to perform obstacle-avoiding motion and constructs a map according to the information measured by the 360° laser scanning ranging radar (14). 2. The map construction robot based on laser scanning and Kalman filter technology as claimed in claim 1, wherein: the motion platform includes two pairs of crawlers (1), four toothed wheels (2), two teeth Type wheel fixing piece (3), two motor fixing pieces (4), two 12V belt geared motors (5), two 90° angle codes (6), two beams (7), the download plate (8) and The upper carrier plate (12); the toothed wheel (2) is respectively arranged at both ends of the toothed wheel fixture (3) and the toothed wheel (2) at the rear end and the toothed wheel fixture (3) are rotatable The connection of the track (1) and the toothed wheel (2); the two 12V geared motors (5) are distributed diagonally, and are connected to the toothed wheel in a threaded manner through the motor fixture (4). On the wheel fixing part (3), the power output end of the motor is fixedly connected with the toothed wheel (2) on the front side; the two beams (7) are threaded through the 90° angle code (6) Connect the toothed wheel fixtures (3) on both sides; the download plate (8) is arranged on the top of the crossbeam (7), and the through hole of the download plate (8) is coaxially matched with the through hole of the crossbeam (7); The upper loading board (12) is connected to the lowering board (8) through a pole (11); the control main board (9) controls the action of the motor through a motor driving board (10). 3. The map building robot based on laser scanning and Kalman filter technology as claimed in claim 2, characterized in that: the control board (9) is fixed on the download board (8). 4. the map construction robot based on laser scanning and Kalman filter technology as claimed in claim 2, is characterized in that: one end of the ellipse shape of described upper carrier plate (12) is set to the front towards the robot; Described ultrasonic sensor (13 ) has five in total, three of which are evenly distributed in the fan-shaped area of the upper carrier plate (12), one of which is facing the front of the robot, and two ultrasonic sensors (13) are respectively set in the left and right directions of the upper carrier plate (12), and located in the middle of the sideline; the 360° laser scanning ranging radar (14) is arranged at the center of the upper carrier board (12). 5. The map construction robot based on laser scanning and Kalman filter technology as claimed in claim 1, characterized in that: the control board (9) uses the third-generation Raspberry Pi main board. 6. The map building robot based on laser scanning and Kalman filter technology as claimed in claim 5, wherein a short-distance wireless communication module is arranged on the mainboard of the Raspberry Pi III. 7. The map building robot based on laser scanning and Kalman filter technology according to claim 6, wherein the short-distance wireless communication module includes a Bluetooth module and a WIFI module.