基于环境信息实时感知的图书存取机器人移动轨迹检测  

Moving trajectory detection of book access robot based on real-time perception of environmental information

作　　者：李静[1] 张县 罗征 朱锰钢 LI Jing;ZHANG Xian;LUO Zheng;ZHU Menggang(Image and Text Information Center of Xi’an Eurasian University,Xi’an 710065,China;Xi’an University of Arts and Sciences Library,Xi’an 710065,China)

机构地区：[1]西安欧亚学院,西安710065 [2]西安文理学院,西安710065

出　　处：《自动化与仪器仪表》2023年第5期231-234,239,共5页Automation & Instrumentation

基　　金：陕西省图书馆学会研究项目(211044)区域高校图书馆在文化功能辐射中的创新实践研究;陕西省教育厅科学研究计划项目(20JK0270)基于流程再造理论的高校师生一站式服务研究;陕西省社会科学基金年度项目(2021P014)智慧教育背景下陕西省基础教育信息化发展路径研究。

摘　　要：为保证机器人在图书存取时,按照设定轨迹完成图书存取,研究基于环境信息实时感知的图书存取机器人移动轨迹检测方法。通过在机器人上搭载激光雷达设备,采集机器人移动环境三维点云数据;采用贝叶斯估计方法融合该数据后,基于图优化算法构建机器人移动地图;采用平滑接近图算法,检测机器人在地图中的移动方向角,结合机器人所有的方向角结果实现机器人移动轨迹检测。测试结果显示:该方法能可靠获取机器人移动环境的三维点云数据,清晰生成机器人移动地图,并呈现障碍物情况;机器人最大方向角度检测误差结果为1.23°;机器人的移动轨迹位置和指定位置结果吻合程度较高。In order to ensure that the robot can complete the book access according to the set track when the book is accessed,a method of detecting the book access robot’s moving track based on real-time perception of environmental information is studied.Collect 3D point cloud data of robot mobile environment by carrying laser radar equipment on the robot;After fusing the data with Bayesian estimation method,the robot mobile map is constructed based on the graph optimization algorithm;The smooth approach graph algorithm is used to detect the robot’s moving direction in the map,and the robot’s moving path is detected by combining all the robot's direction results.The test results show that this method can reliably obtain 3D point cloud data of robot mobile environment,clearly generate robot mobile map,and present obstacles;The maximum direction angle detection error of the robot is 1.23°;The position of the robot’s moving path is in good agreement with the result of the specified position.

关 键 词：环境信息 实时感知 图书存取 机器人 移动轨迹检测 点云数据融合 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]