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CN113158387A - Visual target point arrangement method based on laser radar grid map coupling - Google Patents

Visual target point arrangement method based on laser radar grid map coupling Download PDF

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CN113158387A
CN113158387A CN202110283869.1A CN202110283869A CN113158387A CN 113158387 A CN113158387 A CN 113158387A CN 202110283869 A CN202110283869 A CN 202110283869A CN 113158387 A CN113158387 A CN 113158387A
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agv
laser tracker
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visual target
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CN113158387B (en
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李泷杲
黄翔
黄智超
李�根
曾琪
齐凯
陶克梅
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Nanjing University of Aeronautics and Astronautics
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Abstract

一种基于激光雷达栅格地图耦合的视觉靶点布置方法，其特征在于，首先，引入激光跟踪仪测量设备，实现激光雷达构建的栅格地图坐标系与激光跟踪仪坐标系耦合；其次，基于坐标耦合不确定度、测量不确定度与运动不确定度，确定视觉靶点的布置。本发明提高了坐标系耦合与靶点布置的精度；坐标系耦合测量次数少，耦合解算精度高，视觉靶点结合实际航空制造场景灵活铺设，发明灵活鲁棒，可广泛应用于航空制造领域，视觉靶点融于栅格地图后，可有效提高AGV导航定位精度。

Figure 202110283869

A method for arranging visual targets based on lidar grid map coupling is characterized in that, first, a laser tracker measurement device is introduced to realize the coupling between the grid map coordinate system constructed by lidar and the laser tracker coordinate system; Coordinate coupling uncertainty, measurement uncertainty and motion uncertainty determine the placement of visual targets. The invention improves the accuracy of the coordinate system coupling and the target point arrangement; the number of times of the coordinate system coupling measurement is small, the coupling solution precision is high, the visual target points are flexibly laid in combination with the actual aviation manufacturing scene, the invention is flexible and robust, and can be widely used in the field of aviation manufacturing , After the visual target is integrated into the grid map, it can effectively improve the AGV navigation and positioning accuracy.

Figure 202110283869

Description

Visual target point arrangement method based on laser radar grid map coupling
Technical Field
The invention relates to an aviation manufacturing technology, in particular to a laser radar grid map coupling and visual target point arrangement method applied to the aviation manufacturing field, and specifically relates to a visual target point arrangement method based on laser radar grid map coupling.
Background
At present, a grid map used by AGV in the field of aviation manufacturing is constructed by means of a laser radar SLAM technology, and due to the limitation of sensors and algorithms, the grid map is low in precision. In addition, a method for accurately coupling the grid probability map with the actual scene is lacked, and the conventional method for coupling the grid probability map with the actual scene by simply utilizing the AMCL probability has low coupling precision and cannot meet the requirement of high-precision navigation positioning.
In the industrial 4.0 background, the field of aeronautical manufacturing has come to a rapid development. With the progress of in-situ manufacturing technology, the precision requirement of assembling and manufacturing sites on the in-situ manufacturing technology transfer station carrier is higher and higher. The AGV is a carrier for transfer station movement, and the transfer station positioning precision of the AGV depends on the precise construction of an environment map. The laser radar map building method is small in map building amount, high in map building speed and widely applied to industrial fields, and the existing laser radar map building method is low in grid map building accuracy, lacks a method for coupling a grid map with an actual scene, and cannot achieve high-accuracy self-positioning of the AGV. The existing visual target is used as a fixed marker, so that the AGV can realize a high-precision self-positioning function. The existing visual target is limited by two-dimensional codes, and the system utilization of the visual target is lacked, so that the AGV cannot achieve a high-precision self-positioning effect in a grid map.
Therefore, high-precision measuring equipment such as a laser tracker is introduced, a laser radar grid map construction method fusing visual targets is designed, and the navigation and positioning precision can be effectively improved.
Disclosure of Invention
The invention discloses a visual target spot arrangement method based on laser radar grid map coupling, aiming at pain spots which lack a high-precision coupling method in a grid map constructed by a laser radar and an actual scene.
The technical scheme of the invention is as follows:
a visual target spot arrangement method based on laser radar grid map coupling is characterized in that firstly, laser tracker measuring equipment is introduced to realize the coupling of a grid map coordinate system constructed by a laser radar and a laser tracker coordinate system; the arrangement of the visual target points is determined based on coordinate coupling uncertainty, measurement uncertainty and motion uncertainty.
The coupling method of the grid map coordinate system and the laser tracker coordinate system in the AGV field comprises the following steps: in an operation scene, the laser tracker is arranged in a region which is close to the center and is less in shielding; establishing a right-hand Cartesian coordinate system, namely a laser tracker coordinate system, which is also an actual scene coordinate system, by taking the laser tracker as an origin; placing a plurality of target ball seats of the laser tracker on the AGV for placing target balls; the laser tracker continuously measures the target balls carried on the target ball seat and ensures that the geometric center of the target ball seat is coincident with the motion center of the AGV; the method comprises the steps that a laser tracker measures a plurality of target balls of an AGV at each station to obtain coordinates of the target balls under the laser tracker; in a scene, a plurality of scattered stations are arranged, and the AGV position posture p at the measuring station i is recordediThe number of target balls is NbqAnd the measured AGV pose obtained by the ith measurement is as follows:
Figure BDA0002979607420000021
in the formula (I), the compound is shown in the specification,
Figure BDA0002979607420000022
shows the k target ball in the ith measurement AGV poseA measurement of coordinates;
after all the measurements are finished, the position and posture of the AGV measured by the laser tracker are obtained
Figure BDA0002979607420000023
Wherein p isiRepresenting the pose of the AGV under the coordinate system of the laser tracker, P is a set of measurement coordinates of the laser tracker, NpRepresenting the number of matching measurement points;
obtaining the pose of the AGV under a grid map coordinate system by an AMCL probability method
Figure BDA0002979607420000024
Wherein, xiThe coordinate of the AGV under the grid map coordinate system is represented, and X is a coordinate set of the AGV under the grid coordinate system;
coupling the two coordinate systems, namely solving a rotation matrix as R and a translation vector as t, so that the coupling error function E (R, t) of the two coordinate systems is minimum:
Figure BDA0002979607420000025
and solving to obtain a rotation matrix R and a translation vector t.
Figure BDA0002979607420000026
U, V is a verification rotation matrix | R | ═ 1 obtained by SVD decomposition of a positive definite matrix H generated in the solving process; when | R | ═ 1 or the measured point cloud of the two coordinate systems has a mirror image relationship, then:
Figure BDA0002979607420000027
the coupling error is noted as σTransformThen the coupling error of the method is:
Figure BDA0002979607420000028
the visual target placement comprises the following:
the visual target is pasted on the ground or the ceiling, the pose of the visual target is obtained by combining and measuring a laser tracker and a T-Probe, and if the AGV wants to identify the visual target and reaches the positioning accuracy sigma, the method comprises the following steps:
recording the uncertainty of the X-direction motion as
Figure BDA00029796074200000311
Uncertainty of Y-direction motion
Figure BDA00029796074200000312
The distance of movement in the X direction is dxThe distance of movement in the Y direction is dyThen the AGV motion uncertainty is
Figure BDA0002979607420000031
Figure BDA0002979607420000032
Side length of visual target point is dTagAnd the uncertainty of the camera identification visual target point is sigmacamSide length d of rectangular field of view of cameraFOV(ii) a The moving distance of AGV in X direction is dxDistance d of movement in the Y directionyHas a motion uncertainty of
Figure BDA0002979607420000033
Number AiThe measurement uncertainty of the visual target under the laser tracker system is
Figure BDA0002979607420000034
The d constraint equation of the maximum arrangement interval of the visual target points is as follows:
Figure BDA0002979607420000035
and setting a precision guarantee margin coefficient C, determining the maximum arrangement interval of the visual target points as d, and solving to obtain:
Figure RE-GDA0003071219460000036
under the measurement of the visual target point by the laser tracker, the obtained pose is
Figure BDA0002979607420000037
NbqNumber of target points, miAnd (5) a visual target point with a table type label i.
Figure BDA0002979607420000038
In the formula (I), the compound is shown in the specification,
Figure BDA0002979607420000039
the k-th T-Probe measurement data of the target point marked by the index i is shown, and n is the total number of times of measurement of the target point.
Coupling the visual target point to a grid map coordinate system to obtain the pose of the visual target point in the grid map, and marking as
Figure BDA00029796074200000310
The rotation matrix of the laser tracker coordinate system and the grid map coordinate system is coupled is R, the translation vector is t, then:
M'＝R·M+t (10)
the invention has the beneficial effects that:
1) high-precision measuring equipment such as a laser tracker is introduced, and a high-precision measuring reference is utilized to improve the precision of coordinate system coupling and target point arrangement.
2) The coordinate system has less coupling measurement times and high coupling calculation precision.
3) The visual target points are flexibly laid in combination with the actual aviation manufacturing scene, and the method is flexible and robust.
The method can be widely applied to the field of aviation manufacturing, and after the visual target is fused with the grid map, the navigation positioning precision of the AGV can be effectively improved.
Drawings
FIG. 1 is a schematic diagram of the coupling of two coordinate systems according to the present invention.
FIG. 2 is an illustration of an AGV target ball seat arrangement of the present invention.
FIG. 3 is a schematic diagram of the visual target placement of the present invention, exemplified by April Tag.
Detailed Description
The present invention will be further described with reference to the following drawings and examples, it being understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to be limiting.
As shown in fig. 1-3.
A visual target point arrangement method based on laser radar grid map coupling comprises the following two aspects:
1.1 designing a method for coupling a grid map coordinate system constructed by a laser radar and a laser tracker coordinate system (namely an actual scene coordinate system) by introducing laser tracker measuring equipment;
1.2 study a visual target placement method based on coordinate coupling uncertainty, measurement uncertainty and motion uncertainty analysis.
In the AGV field, a grid map coordinate system and a laser tracker coordinate system (namely an actual scene coordinate system) are coupled, and the coupling method comprises the following contents:
in the present coupling method, as illustrated in the left diagram of fig. 1, in the operation scene, the laser tracker is arranged in the area close to the center of the scene and less sheltered. A right-hand Cartesian coordinate system is established by taking the laser tracker as an origin, and is called as a laser tracker coordinate system and also is an actual scene coordinate system.
And placing target ball seats of a plurality of laser trackers on the AGV for placing target balls. The laser tracker constantly measures the target ball that carries on the target ball seat, need guarantee as far as possible that target ball seat geometric centre and AGV center of motion coincide, and the signaling is 4 target ball seats in figure 2, places more target ball seats around the center of motion, can improve measurement accuracy.
The laser tracker measures a plurality of target balls of the AGV at each station position to obtain the coordinates of the target balls under the laser tracker. In a scene, a plurality of scattered stations are arranged, and the position and pose p of the AGV at the measuring station i are recordediThe number of target balls is NbqAnd if so, the measured AGV pose obtained by the ith measurement is as follows:
Figure BDA0002979607420000041
in the formula (I), the compound is shown in the specification,
Figure BDA0002979607420000042
and the measured value of the k target sphere coordinate in the ith AGV pose is shown.
After all the measurements are finished, the position and posture of the AGV measured by the laser tracker are obtained
Figure BDA0002979607420000051
Wherein p isiRepresenting the pose of the AGV under the coordinate system of the laser tracker, P is a set of measurement coordinates of the laser tracker, NpIndicating the number of matching measurement points.
Obtaining the pose of the AGV under a grid map coordinate system by an AMCL probability method
Figure BDA0002979607420000052
Wherein, xiAnd X is a coordinate set of the AGV in the grid coordinate system.
Coupling the two coordinate systems, namely solving a rotation matrix as R and a translation vector as t, so that the coupling error function E (R, t) of the two coordinate systems is minimum:
Figure BDA0002979607420000053
and solving to obtain a rotation matrix R and a translation vector t.
Figure BDA0002979607420000054
U, V is a verification rotation matrix | R | ═ 1 obtained by SVD decomposition of the positive definite matrix H generated in the solving process. When | R | ═ 1 or the measured point cloud of the two coordinate systems has a mirror image relationship, then:
Figure BDA0002979607420000055
the coupling error is noted as σTransformThen the coupling error of the method is:
Figure BDA0002979607420000056
the visual target placement method comprises the following steps:
the visual target is pasted on the ground or the ceiling, the pose of the visual target is obtained by combining and measuring a laser tracker and a T-Probe, and if the AGV wants to identify the visual target and reaches the positioning accuracy sigma, the method comprises the following steps:
recording the uncertainty of the X-direction motion as
Figure BDA0002979607420000059
Uncertainty of Y-direction motion
Figure BDA00029796074200000510
The distance of movement in the X direction is dxThe distance of movement in the Y direction is dyThen the AGV motion uncertainty is
Figure BDA0002979607420000057
Figure BDA0002979607420000058
Side length of visual target point is dTagAnd the uncertainty of the camera identification visual target point is sigmacamSide length d of rectangular field of view of cameraFOV(ii) a The moving distance of AGV in X direction is dxIn the Y directionDistance d of movementyHas a motion uncertainty of
Figure BDA0002979607420000061
Number AiThe measurement uncertainty of the visual target under the laser tracker system is
Figure BDA0002979607420000062
The d constraint equation of the maximum arrangement interval of the visual target points is as follows:
Figure BDA0002979607420000063
and setting a precision guarantee margin coefficient C, determining the maximum arrangement interval of the visual target points as d, and solving to obtain:
Figure RE-GDA0003071219460000064
under the measurement of the visual target point by the laser tracker, the obtained pose is
Figure BDA0002979607420000065
NbqNumber of target points, miAnd (5) a visual target point with a table type label i.
Figure BDA0002979607420000066
In the formula (I), the compound is shown in the specification,
Figure BDA0002979607420000067
the k-th T-Probe measurement data of the target point marked by the index i is shown, and n is the total number of times of measurement of the target point.
Coupling the visual target point to a grid map coordinate system to obtain the pose of the visual target point in the grid map, and marking as
Figure BDA0002979607420000068
Laser tracker coordinate system andand if the rotation matrix coupled with the grid map coordinate system is R and the translation vector is t, then:
M'＝R·M+t (10)
the details are as follows:
1. as shown in fig. 1 and fig. 2, in order to realize the precise coupling relation between the laser tracker coordinate system and the grid map coordinate system, the following coordinate system coupling method is designed.
a) As shown in FIG. 2, a target tee is disposed on the AGV. The laser tracker is a high-precision optical measuring device in the field of industrial measurement, and can be combined with a reflecting target ball to quickly complete high-precision measurement. And measuring a plurality of target ball seats of the AGV by using the laser tracker to obtain the pose of the AGV under the laser tracker.
The laser tracker measures a plurality of target balls of the AGV at each station position to obtain the coordinates of the target balls under the laser tracker. Recording ith measurement AGV pose piThe number of target balls is NbqAnd then, the measured AGV pose at the station position i is:
Figure BDA0002979607420000069
b) as shown in fig. 1, the AGVs are driven to a plurality of target stations, and the positions and postures of the AGVs at the stations are measured by the laser tracker, so as to obtain the poses of the AGVs under the coordinate system of the laser tracker.
Figure BDA00029796074200000610
Wherein p isiRepresenting the pose of the AGV in the ith measurement under the coordinate system of the laser tracker, P is a set of measurement coordinates of the laser tracker, and N ispIndicating the number of matching measurement points.
c) When the laser tracker measures, in the grid map, the pose of the AGV in the grid map is obtained by using self-positioning modes such as an AMCL Monte Carlo self-positioning algorithm and the like:
Figure BDA0002979607420000071
wherein x isiThe coordinate of the AGV under the grid map coordinate system is calculated for the ith time, X is the coordinate set of the AGV under the grid coordinate system, NpIndicating the number of matching measurement points.
d) The two coordinate systems are coupled by means of different poses of the AGV under the two coordinate systems.
Coupling the two coordinate systems, namely solving a rotation matrix as R and a translation vector as t, so that the coupling error function E (R, t) of the two coordinate systems is minimum:
Figure BDA0002979607420000072
and solving to obtain a rotation matrix R and a translation vector t.
Figure BDA0002979607420000073
U, V is a verification rotation matrix | R | ═ 1 obtained by SVD decomposition of the positive definite matrix H generated in the solving process. When | R | ═ 1 or the measured point cloud of the two coordinate systems has a mirror image relationship, then:
Figure BDA0002979607420000074
e) uncertainty in coordinate system coupling, i.e. coupling error
The coupling error is noted as σTransformThen the coupling error of the method is:
Figure BDA0002979607420000075
2. as shown in fig. 3, the uncertainty of the AGV identifying the target and traveling to the target station is studied, and the visual target placement interval is designed in combination with the uncertainty and the accuracy requirement.
a) Determining the precision requirement sigma after the AGV identifies the visual target;
b) determining camera recognition target uncertainty sigmacamNumber AiThe measurement uncertainty of the visual target under the laser tracker system is
Figure BDA0002979607420000076
Coordinate system coupling uncertainty σTransform；
c) Determining the distance of movement and calculating the uncertainty of movement
Figure BDA0002979607420000077
Recording the uncertainty of the X-direction motion as
Figure BDA0002979607420000078
Uncertainty of Y-direction motion
Figure BDA0002979607420000086
The distance of movement in the X direction is dxThe distance of movement in the Y direction is dyThen the AGV motion uncertainty is:
Figure BDA0002979607420000081
d) as shown in fig. 3, a constraint equation of the visual target placement interval d is obtained according to the measurement uncertainty relationship:
Figure BDA0002979607420000082
e) and (3) setting a precision guarantee margin coefficient C according to an uncertainty constraint equation, and solving the maximum arrangement interval of the visual target points as d:
Figure RE-GDA0003071219460000083
f) arranging the visual target point at the laser interval, wherein the arrangement interval of the visual target point is less than or equal to the maximum arrangement interval d, and the visual target point is obtained by measuring by combining a laser tracker and a T-ProbePose under tracking is M ═ M0,m1,…,mNN denotes the number of target spots, m1Visual target point of table label 1.
Figure BDA0002979607420000084
In the formula (I), the compound is shown in the specification,
Figure BDA0002979607420000085
the k-th T-Probe measurement data of the target point marked by the index i is shown, and n is the total number of times of measurement of the target point.
g) Coupling the visual target point to a grid map coordinate system to obtain the pose of the visual target point in the grid map, and marking as M '═ M'0,m'1,…,m'NAnd if the rotation matrix and the translation vector of the laser tracker coordinate system and the grid map coordinate system are coupled are known as R, t, then:
M'＝R·M+t
the foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
The present invention is not concerned with parts which are the same as or can be implemented using prior art techniques.

Claims (3)

1. A visual target spot arrangement method based on laser radar grid map coupling is characterized in that firstly, laser tracker measuring equipment is introduced to realize the coupling of a grid map coordinate system constructed by a laser radar and a laser tracker coordinate system; secondly, the arrangement of the visual target points is determined based on coordinate coupling uncertainty, measurement uncertainty and motion uncertainty.
2. The method of claim 1, wherein the coupling method of the grid map coordinate system and the laser tracker coordinate system in the AGV field is: in the operating scenario, the laser tracker is laid outAreas near the center and less occluded in the scene; establishing a right-hand Cartesian coordinate system, namely a laser tracker coordinate system, which is also an actual scene coordinate system, by taking the laser tracker as an origin; placing a plurality of target ball seats of the laser tracker on the AGV for placing target balls; the laser tracker continuously measures the target ball carried on the target ball seat, and the geometric center of the target ball seat is required to be ensured to be coincident with the motion center of the AGV; the method comprises the steps that a laser tracker measures a plurality of target balls of an AGV at each station to obtain coordinates of the target balls under the laser tracker; in a scene, a plurality of scattered stations are arranged, and the position and pose p of the AGV at the measuring station i are recordediThe number of target balls is NbqAnd the measured AGV pose obtained by the ith measurement is as follows:
Figure FDA0002979607410000011
in the formula (I), the compound is shown in the specification,
Figure FDA0002979607410000012
the measured value of the k target sphere coordinate in the ith AGV pose is represented;
after all the measurements are finished, the position and posture of the AGV measured by the laser tracker are obtained
Figure FDA0002979607410000013
Wherein p isiRepresenting the pose of the AGV under the coordinate system of the laser tracker, P is a set of measurement coordinates of the laser tracker, NpRepresenting the number of matching measurement points;
obtaining the pose of the AGV under a grid map coordinate system by an AMCL probability method
Figure FDA0002979607410000014
Wherein x isiThe coordinate of the AGV under the grid map coordinate system is represented, and X is a coordinate set of the AGV under the grid coordinate system;
coupling the two coordinate systems, namely solving a rotation matrix as R and a translation vector as t, so that the coupling error function E (R, t) of the two coordinate systems is minimum:
Figure FDA0002979607410000015
and solving to obtain a rotation matrix R and a translation vector t.
Figure FDA0002979607410000016
U, V is a verification rotation matrix | R | ═ 1 obtained by SVD decomposition of a positive definite matrix H generated in the solving process; when | R | ═ 1 or the measured point cloud of the two coordinate systems has a mirror image relationship, then:
Figure FDA0002979607410000021
the coupling error is noted as σTransformThen the coupling error of the method is:
Figure FDA0002979607410000022
3. the method of claim 1, wherein the visual target placement comprises:
the visual target is pasted on the ground or the ceiling, the pose of the visual target is obtained by combining and measuring a laser tracker and a T-Probe, and if the AGV wants to identify the visual target and reaches the positioning accuracy sigma, the method comprises the following steps:
let the uncertainty of X-direction motion be σxmm/m, uncertainty of Y-direction motion as sigmaymm/m, and the moving distance in the X direction is dxThe distance of movement in the Y direction is dyThen the AGV motion uncertainty is
Figure RE-FDA0003071219450000023
Figure RE-FDA0003071219450000024
Side length of visual target point is dTagAnd the uncertainty of the camera identification visual target point is sigmacamSide length d of rectangular field of view of cameraFOV(ii) a The moving distance of AGV in X direction is dxDistance d of movement in the Y directionyHas a motion uncertainty of
Figure RE-FDA0003071219450000025
Number AiThe measurement uncertainty of the visual target under the laser tracker system is
Figure RE-FDA0003071219450000026
The d constraint equation of the maximum arrangement interval of the visual target points is as follows:
Figure RE-FDA0003071219450000027
and setting a precision guarantee margin coefficient C, determining the maximum arrangement interval of the visual target points as d, and solving to obtain:
Figure RE-FDA0003071219450000028
under the measurement of the visual target point by the laser tracker, the obtained pose is
Figure RE-FDA0003071219450000029
NbqNumber of target points, miAnd (5) a visual target point with a table type label i.
Figure RE-FDA00030712194500000210
In the formula (I), the compound is shown in the specification,
Figure RE-FDA00030712194500000211
the k-th T-Probe measurement data of the target point with the index i is shown, and n represents the total measurement times of the target point.
Coupling the visual target point to a grid map coordinate system to obtain the pose of the visual target point in the grid map, and marking as
Figure RE-FDA0003071219450000031
The rotation matrix of the laser tracker coordinate system and the grid map coordinate system is coupled is R, the translation vector is t, then:
M'＝R·M+t (10) 。
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