CN109975819A - A kind of optimization method of cost laser measurement data - Google Patents
A kind of optimization method of cost laser measurement data Download PDFInfo
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- CN109975819A CN109975819A CN201711454810.4A CN201711454810A CN109975819A CN 109975819 A CN109975819 A CN 109975819A CN 201711454810 A CN201711454810 A CN 201711454810A CN 109975819 A CN109975819 A CN 109975819A
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of optimization methods of cost laser measurement data, and laser sensor frequency acquisition is combined with the revolving speed of laser motor, acquire laser data, comprising the following steps: selection sampling interval point prevents sampling interval point from being divided exactly by 360 °；Motor rotary speed is adjusted, the output duty cycle of PWM is controlled, so that actual sampling interval mean value reaches the value of selection.The invention enables the sampled points of adjacent turn to be staggered, and after enclosing by n, sampled point returns initial point.It is equivalent to angular resolution at this time and improves n times, and revolving speed does not have to drop very much, dynamic sensitivity is unaffected.In the application that 2D-SLAM builds figure, higher more accurate environment is provided for without mobile robot, so that the grid in effective scanning distance range, can directly obtain the update of attribute.
Description
Technical field
The present invention relates to a kind of optimization methods of cost laser measurement data, and the invention belongs to mobile robot laser to lead
Boat field.
Background technique
With automatic technology fast development, the trend of manpower is replaced to get over using automatic machines and equipment on plant produced line
To be more obvious.In mobile robot field, robot needs various sensors to perceive the external world.How robot is in certain environment
Interior autonomous movement walking, is the project studied always for a long time.
In the prior art, that more mature is 2D-slam, in one plane obtains range information by sensor, according to
Entire map is established by algorithm, and B point can be gone to from any A point planning path in map.Among these, sensor is played the part of
It drills and its important role, it is exactly the eyes of robot, is the basis of entire slam behavior.The type of sensor is a variety of more
Sample, most commonly laser, there are also ultrasound, depth cameras etc..Wherein because data precision is high, scanning angle becomes greatly laser
The preferred sensor of 2D-slam.
Laser sensor producer for navigation it is famous have a SICK, several producers such as northeast part of China, these laser sensors are dynamic
Often tens of thousands of members, typically industrial occasions use, and consumer product can only hang back for reasons of cost.But in recent years
Cost laser radar starts to emerge in large numbers on the market, such as Rplidar etc., and price can achieve thousand yuan of ranks.Although technology is joined
Number grade is relatively low, but applying also is possible in some occasions of less demanding, has high cost performance.
Cost laser sensor performance in laser measurement precision and measurement frequency is all lower, will when establishing map
Bring detrimental effect.By taking certain Rplidar as an example, the resolution ratio of measurement can reach 1 °, measurement range 8m.And it is establishing
When the grating map of 5cm precision, as shown in Figure 1,5cm grid corresponding angle is about 5*360/800/ in the maximum distance of 8m
3.1415926/2=0.358 °, the minimum resolution of laser sensor can not reach requirement.As shown in Fig. 2, in a typical case
Rule environment in, the preliminary sweep result of laser can generate swept within the scope of 8m less than region, form many categories of dispersion shape
Property be unknown grid block.After laser sensor random device people movement, these regions are likely to be swept to, these grids exist
It can be just updated on map.But robot movement is to need to know displacement, and this needs the matching algorithm branch of laser data
It holds.So being really very helpful to the precision and integrality of building figure if this problem can be improved if laser data level.
Summary of the invention
Present invention seek to address that above-mentioned problems of the prior art, propose a kind of mode of controllable periodic samples
The method for acquiring laser data, adjacent every circle sampled point is different, the covert method for improving cost laser angular resolution.
The technical solution adopted by the present invention to solve the technical problems is: a kind of optimization side of cost laser measurement data
Method combines laser sensor frequency acquisition with the revolving speed of laser motor, acquires laser data, comprising the following steps:
Sampling interval point is selected, prevents sampling interval point from being divided exactly by 360 °；
Motor rotary speed is adjusted, the output duty cycle of PWM is controlled, so that actual sampling interval mean value reaches the sampling of selection
The value of spaced points.
The selection sampling interval point the following steps are included:
Keep 360*H/ (sampled point interval * H) aliquant, (sampled point interval * H) as in integer containing cannot be by 360*
The prime number that H is divided exactly；The prime number determines that after n circle, sampled point returns initial point.H expression makes the sampling interval become integer
Required widened multiple.
The H is 10.
The sampled point of adjacent turn is not overlapped.
When selecting the sampling interval, 7 are contained in (sampled point interval * H), while cannot cannot be divided exactly by 360*H comprising other
Prime number.
1.4 ° are divided between the sampled point.
The invention has the following beneficial effects and advantage:
Performance limitation of the present invention in view of existing cost laser sensor in all fields, on the basis of existence conditions
It is proposed a kind of method for deliberately selecting the sampling interval, so that the sampled point of adjacent turn is staggered, after being enclosed by n, sampled point
Return initial point.It is equivalent to angular resolution at this time and improves n times, and revolving speed does not have to drop very much, dynamic sensitivity is unaffected.?
2D-SLAM is built in the application of figure, higher more accurate environment is provided for without mobile robot, so that in effective scanning distance
Grid in range can directly obtain the update of attribute.
Detailed description of the invention
Fig. 1 is for cost laser in 8m apart from upper and 5cm grating angle relation schematic diagram；
Fig. 2 is that existing cost laser has unrenewable grid problem schematic diagram in effective ranging range；
Fig. 3 is laser sensor principle of triangulation schematic diagram；
Fig. 4 selects the multi-turn of 1.4 ° of sampled point angle interval example to sample dot interlace schematic diagram；
Wherein, 1 laser, 2 5cm grids, 3 environment profiles, 4 grid regions that cannot be updated, 5 transmitting tubes, 6 receivers,
The reflecting surface that 7 distances do not wait.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be understood that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The method that the present invention is mainly used in the desired refresh rate appropriate sampling interval selected around, so that laser sensor exists
During at the uniform velocity rotating, the angled difference of phase spacer ring, and complete entire circulation in considerable circle number and be returned to initial angle, this
Sample will not the always same angle of repeated acquisition point or random point, it is covert improving angular resolution, while will not obviously drop
The low frequency to identical point repeated sampling.
Cost laser is typically all that the method for using range of triangle is encountering as shown in figure 3, transmitting tube 5 emits laser
The back reflection of object 7.Distance is different, and the incidence point in visual sensor 6 after laser reflection is also different.Simple geometry operation
Afterwards, the distance of object 7 can be calculated.
Since the device performance of selection limits, visual sensor acquires and handles reflection photoelectricity cost laser sensor
Range data is calculated, this process can generally reach 2000 to 4000Hz.If the laser rotary period be 10Hz, every 360 °
Sampled point be 200 to 400.The revolving speed of laser is controlled by PWM, and the visual sensor of laser is acquired and handled and counted
According to rear, the code-disc information of laser motor at that time is combined, can be regarded as a laser data point.Under normal circumstances, laser
Frequency acquisition and laser motor rotary speed are independent from each other, and all oneself is controllable by the revolving speed user of laser motor, if revolving speed drop one
Half, then the acquisition data point of every circle doubles, and can also increase angular resolution in this way, the disadvantage is that refreshing frequency declines.
Laser frequency acquisition is combined with the revolving speed of laser motor in the present invention, realizes controllable periodic samples
The method that mode acquires laser data selects sampling interval point appropriate, so that sampling interval point can not be divided exactly by 360 °, this
The sampled point that sample allows for adjacent turn is staggered, and encloses and then return to initial point by n.
The code-disc of cost laser is also low cost, and general precision can only achieve 0.1 °.So in the choosing at sampled point interval
Selecting just may be only accurate on 0.1 °.It is intended to so that sampling interval point can not be divided exactly by 360 °, i.e., 3600/ (sampled point interval *
10) aliquant, (sampled point interval * 10) is as will be containing the prime number ingredient that cannot be divided exactly by 3600 in integer.And this matter
Number ingredients are and determine by after how much enclosing, sampled point returns initial point.
The minimum prime number that cannot be divided exactly by 3600 is 7, so wanting in (sampled point interval * 10) when selecting the sampling interval
Contain 7, while the sampled point of adjacent turn can not could be made to be in this way comprising the prime number ingredient that other cannot be divided exactly by 3600
It is staggered, after 7 circles (motor is turn-taked), sampled point returns initial point.It is equivalent to 7 times of angular resolution raising at this time, and
Revolving speed does not have to 7 times of drop, and dynamic sensitivity is unaffected.
After the reselection sampling interval appropriate, motor rotary speed is adjusted using PID mode, controls the output duty cycle of PWM
(input of PID is the sampling interval of selection, and feedback is actual samples interval mean value.The PWM duty cycle of the output of calculating) make
Actual sampling interval mean value reaches the value of selection.
The specific choice in sampling interval is to determine according to demand.Demand is from two angles: if demand is from frame refreshing frequency
Determine (i.e. revolving speed), then we can require to find a suitable sampling interval near revolving speed, rotation speed change very
In the case where small, hence it is evident that improve resolution ratio.If demand is determined from resolution ratio, we can be while maintaining resolution ratio
The refresh rate of frame is significantly improved, the response changed to dynamic disorder is improved.
By taking the laser of sample frequency 2000Hz as an example, select to be divided into 1.4 ° between sampled point, (1.4*10)=14=2*7,
In 2 can be divided exactly by 3600,7 cannot, meet us and select the principle in sampling interval.Motor speed should be 2000*1.4/ at this time
360=7.7778Hz.It is then 361.2 ° in the 259th sampled point angle as shown in figure 4, setting the first angle of sampling as 0 °,
I.e. 1.2 °, this is first point of the 2nd circle.1.0 ° of the first angle of the 3rd circle can be pushed away, the 4th 0.8 ° of circle, the 5th encloses 0.6 °,
6th 0.4 ° of circle, the 7th 0.2 ° of circle, and the 8th circle is returned to 0 °.Such 7 circle is entire one circulation, is realizing angular resolution
On the basis of 0.2 ° of effect, there was only 1.111Hz compared to the motor rotary speed that 0.2 degree is sampled point interval is directly selected, have faster
Refresh rate, the dynamic change of ambient enviroment can be reacted faster.
Claims (6)
1. a kind of optimization method of cost laser measurement data, which is characterized in that by laser sensor frequency acquisition and laser
The revolving speed of motor combines, and acquires laser data, comprising the following steps:
Sampling interval point is selected, prevents sampling interval point from being divided exactly by 360 °；
Motor rotary speed is adjusted, the output duty cycle of PWM is controlled, so that actual sampling interval mean value reaches the sampling interval of selection
The value of point.
2. a kind of optimization method of cost laser measurement data according to claim 1, it is characterised in that the selection
Sampling interval point the following steps are included:
Keep 360*H/ (sampled point interval * H) aliquant, (sampled point interval * H) as in integer containing cannot be whole by 360*H
The prime number removed；The prime number determines that after n circle, sampled point returns initial point；H expression becomes the sampling interval needed for integer
Widened multiple.
3. a kind of optimization method of cost laser measurement data according to claim 1, it is characterised in that: the H is
10。
4. a kind of optimization method of cost laser measurement data according to claim 1, it is characterised in that: adjacent turn
Sampled point is not overlapped.
5. a kind of optimization method of cost laser measurement data according to claim 1, it is characterised in that: selection sampling
When interval, 7 are contained in (sampled point interval * H), while cannot include the prime number that other cannot be divided exactly by 360*H.
6. a kind of optimization method of cost laser measurement data according to claim 1, it is characterised in that the sampling
1.4 ° are divided between point.
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