激光传感器在机器人定位检测中的应用  

Application of laser sensor in robot positioning detection

作　　者：王祺[1] WANG Qi(Zhoukou Normal University,Zhoukou Henan 466001,China)

机构地区：[1]周口师范学院,河南周口466001

出　　处：《激光杂志》2022年第11期36-40,共5页Laser Journal

基　　金：河南省科技厅科技计划项目(No.182102210600)。

摘　　要：当前机器人目标定位检测一直受到昏暗环境的限制,导致定位与检测效果较差。针对上述问题,将激光传感器应用到机器人定位检测中。利用激光传感器采集关于目标的激光点云数据,并实施预处理,包括噪声点去除以及点云数据精简,在处理好的点云数据基础上,利用RBFP方法(粒子滤波法)绘制环境地图,同时实现机器人的自定位。在环境地图中,识别存在的目标,确定目标类型以及计算目标体积,并结合激光测距数据,完成机器人定位检测。结果表明:即使在低照度的昏暗环境中,激光传感器的定位检测结果与实际结果误差,均在误差允许的范围内,说明定位检测质量极高。通过本研究以期为机器人移动导航提供可靠数据。At present, robot target positioning and detection has been limited by dark environment, resulting in poor positioning and detection effect. Aiming at the above problems, the laser sensor is applied to robot positioning and detection. Laser sensor collects laser point cloud data, removes noise points and simplifies point cloud data. On the basis of the processed point cloud data, the environment map is drawn by rbfp method(particle filter method), and the self positioning of the robot is realized at the same time. In the environment map, identify the existing target, determine the target type and calculate the target volume, and complete the robot positioning and detection combined with the laser ranging data. The results show that under the dim environment with low illumination, the error between the positioning detection result and the actual result is within the allowable range, indicating that the positioning detection quality is very high. Through this study, we hope to provide reliable data for robot mobile navigation.

关 键 词：激光传感器 移动机器人 点云数据采集 预处理 RBFP 定位检测方法 

分 类 号：TN125.7[电子电信—物理电子学]