CN-116068577-B - Acquisition method, chip and robot of laser beam simulation line segment

CN116068577BCN 116068577 BCN116068577 BCN 116068577BCN-116068577-B

Abstract

The invention discloses a method, a chip and a robot for acquiring a laser beam simulation line segment, wherein the method is suitable for a mobile robot provided with a laser sensor; and acquiring a laser beam simulation line segment according to the number of obstacle grids passing by the laser ranging line segment within the range of the range error, so that the laser beam simulation line segment becomes the laser ranging line segment with the movement cost identification function. The laser beam simulation line segment can be used as a simulation route for the mobile robot to traverse the barrier grid, plays a role in predicting the movement cost of the robot along a certain direction or a specific route, and indirectly reflects the smoothness of the movement of the simulation mobile robot along the direction indicated by the laser ranging line segment.

Inventors

SUN MING
ZHOU HEWEN
HUANG HUIBAO
CHEN ZHUOBIAO
Xu Songzhou
XIONG KUN

Assignees

珠海一微半导体股份有限公司

Dates

Publication Date: 20260505
Application Date: 20211104

Claims (9)

1. A method for acquiring a simulated line segment of a laser beam, the method being suitable for a mobile robot equipped with a laser sensor, the method comprising: Controlling laser beams emitted by a laser sensor to scan a region to be detected to obtain laser ranging line segments; According to the number of obstacle grids passing through the laser ranging line segments within the range of the range error, obtaining a laser beam simulation line segment, so that the laser beam simulation line segment becomes a laser ranging line segment with the function of identifying the moving cost; the sources of the obstacle grid through which the laser ranging line segments pass within the range of the ranging error are as follows: Setting a point which is separated from the laser point by a preset error distance as a target positioning point along the linear direction of the laser point pointing to the observation point in the grid map, wherein the connection line between the observation point and the laser point is the laser ranging line segment; Then, marking an obstacle grid passing through a connecting line of an observation point and a target positioning point as a pre-configured obstacle grid on the premise of excluding the grid where the observation point is located and the grid where the target positioning point is located, and determining that the pre-configured obstacle grid is the obstacle grid passing through the laser ranging line segment within the range of a range error, wherein the obstacle grid is the grid correspondingly occupied by the obstacle in the area to be detected in the grid map; The method for acquiring the laser beam simulation line segment according to the number of the obstacle grids passing by the laser ranging line segment within the range of the ranging error comprises the following steps: Counting the pre-configured barrier grids penetrated by the connecting line along the connecting line of the observation point and the target positioning point, and setting the laser ranging line segment where the connecting line of the observation point and the target positioning point is positioned as the laser beam simulation line segment when the count value of the pre-configured barrier grids is judged to be larger than a preset quantity threshold; wherein the count value of the pre-configured obstacle grid is used to represent the movement cost; one laser beam corresponds to one laser point, and one laser beam is converted into one laser ranging line segment in the grid map.
2. The acquisition method according to claim 1, wherein when the observation point is located on the side of the grid, the grid on which the observation point is located is the first grid along which the laser ranging line segment passes, and wherein the laser ranging direction is a direction in which the observation point points to a straight line of the laser point so as to form the laser ranging direction of the laser ranging line segment; When the target positioning point is positioned on the edge of the grid, the grid where the target positioning point is positioned is the first grid through which the connecting line of the target positioning point and the laser point passes along the laser observation direction.
3. The method of claim 1, further comprising not setting a laser ranging line segment where the target anchor point and the observation point are located as the laser beam simulation line segment when a line connecting the observation point and the target anchor point does not pass through an obstacle grid.
4. The method according to claim 1, further comprising the step of not setting a laser ranging line segment where the laser point and the observation point are located as the laser beam simulation line segment when a connection length between the target positioning point and the laser point is longer than a connection length between the observation point and the same laser point.
5. The acquisition method according to claim 1, wherein the preset error distance is a fixed value when a link length of the observation point and the laser point is smaller than a preset threshold length; when the length of the connecting line between the observation point and the laser point is greater than or equal to the preset threshold length, the preset error distance and the length of the laser ranging line segment are in a proportional relation.
6. The method according to any one of claims 2 to 5, wherein the manner in which the laser spot is located in the grid includes that the laser spot is located in an area surrounded by four sides of the grid, and that the laser spot is located on a side of the grid to reflect two-dimensional positional information of the scanned object; in one frame of laser point cloud, the observation points are fixed, one target positioning point corresponds to one laser point, and one laser ranging line segment corresponds to one laser point.
7. The acquisition method according to any one of claims 1 to 5, characterized in that the acquisition method further comprises: Controlling laser information reflected by the laser beam in the region to be detected to be converted into laser points in the grid map, wherein the laser points are used for representing that scanned position points fall into positioning points in the grid map; The observation point is the marked position of the laser sensor in the grid map and is used for representing the emission starting point of the laser beam.
8. A chip, characterized in that it implements the acquisition method according to any one of claims 1 to 7 by executing an internally stored algorithmic program code.
9. A robot equipped with a laser sensor for emitting a laser beam for scanning an area to be probed, characterized in that the robot is equipped with a chip as claimed in claim 8 for controlling the robot to perform the acquisition method as claimed in any one of claims 1 to 7.

Description

Acquisition method, chip and robot of laser beam simulation line segment Technical Field The present invention relates to the technical field of laser mapping algorithms, and in particular, to a method, a chip and a robot for acquiring a laser beam simulation line segment. Background At present, when the local trafficability analysis is carried out on the grid map, the trafficability of binarization description of each grid in a small range is determined, then the grids with trafficability being 'trafficability' are subjected to communication clustering in a global range, fragments with smaller sizes after clustering are filtered out, the attribute of the fragments is unknown or not trafficable, the trafficable grids obtained by the rest clusters are marked, and the attribute of the trafficable grids is marked as 'trafficable'. In the communication stage, the processing method only considers whether the passable areas are communicated or not, ignores the distribution condition of the barriers in the non-passable areas, such as the blocking degree of the moving process in a specific direction, so that the analysis of the local passability of the grid map in the prior art cannot predict the moving cost of the robot along a certain direction or a certain specific route, and the recognition precision of the passability of the robot in the specific direction or the specific route in the prior art is not high. Disclosure of Invention In order to overcome the technical defects, the invention discloses a method for acquiring a laser beam simulation line segment, which is used for acquiring a laser ranging line segment with a movement cost identification function from laser ranging line segments mapped by laser beams, and the specific technical scheme is as follows: A method for acquiring a laser beam simulation line segment is suitable for a mobile robot provided with a laser sensor, and comprises the steps of controlling a laser beam emitted by the laser sensor to scan a region to be detected to acquire a laser ranging line segment, simultaneously acquiring a pre-constructed grid map, and acquiring the laser beam simulation line segment according to the number of obstacle grids passing by the laser ranging line segment within a range allowing a ranging error, so that the laser beam simulation line segment becomes the laser ranging line segment with a movement cost identification function. Further, the source of the obstacle grid passing through the laser ranging line segment within the range of the range error is in the grid map, a point which is separated from the laser point by a preset error distance is set as a target positioning point along the linear direction of the laser point to the ranging point, wherein the connecting line of the ranging point and the laser point is the laser ranging line segment, the ranging point is the marked position of the laser sensor in the grid map, then the obstacle grid passing through the connecting line of the ranging point and the target positioning point is marked as a preconfigured obstacle grid on the premise of excluding the grid of the ranging point and the grid of the target positioning point, and the preconfigured obstacle grid is determined to be the obstacle grid passing through the laser ranging line segment within the range error range, wherein the obstacle grid is the grid correspondingly occupied by the obstacle in the area to be detected in the grid map. Further, when the observation point is located on the edge of the grid, the grid where the observation point is located is the first grid where the laser ranging line segment passes along the laser observation direction, wherein the laser observation direction is the direction of the straight line of the observation point to the laser point so as to form the laser observation direction of the laser ranging line segment, and when the target positioning point is located on the edge of the grid, the grid where the target positioning point is located is the first grid where the connection line of the target positioning point and the laser point passes along the laser observation direction. Further, the method for acquiring the laser beam simulation line segments according to the number of the obstacle grids passing through the laser ranging line segments within the range of the range error comprises the steps of counting the preset obstacle grids penetrated by the connecting line along the connecting line of the observation point and the target positioning point, and setting the laser ranging line segments where the connecting line of the observation point and the target positioning point is positioned as the laser beam simulation line segments when the count value of the preset obstacle grids is judged to be larger than a preset number threshold value, wherein the count value of the preset obstacle grids is used for representing the movement cost, one laser beam corresponds to one laser point, and one laser beam