融合激光测距和视觉传感器的智能小车避障系统设计  

Design of Obstacle Avoidance System of Intelligent Car Based on Laser Ranging and Vision Sensor

作　　者：熊节 巫润方 汪劭杰 XIONG Jie;WU Runfang;WANG Shaojie(School of Mechanical Engineering,Tongling University,Tongling Anhui 244061,China)

机构地区：[1]铜陵学院机械工程学院,安徽铜陵244061

出　　处：《萍乡学院学报》2024年第6期64-69,共6页Journal of Pingxiang University

基　　金：安徽省教育厅省级质量工程项目“向高端装备制造业数字化、智能化转型升级的专业群建设及创新人才培养模式探究”(2021sx66)。

摘　　要：在制造强国的战略背景下,智能小车相关的技术应用越来越多,而避障技术是其应用的重要基础。课题组针对智能小车避障方案存在稳定性差、易受环境干扰等缺点,设计了一种融合激光测距和视觉传感器的小车避障系统。研究以Arduino开源硬件为主控制器,利用激光测距获得障碍物距离,在安全避障距离内采用视觉传感器进行图像采集,并联合Python和OpenCV对障碍物图像信息进行处理分析,进而基于障碍物的尺寸、坐标、距离等信息实现小车避障控制策略。实验表明,基于Arduino控制器的融合激光测距和视觉传感器的小车避障系统具有较好的稳定性和抗干扰性。Under the strategic background of manufacturing power,more and more technologies related to intelligent car are applied,and obstacle avoidance technology is an important basis for its application.Aiming at the shortcomings of intelligent trolley obstacle avoidance scheme,such as poor stability and susceptibility to environmental interference,the group designed a trolley obstacle avoidance system that integrates laser ranging and vision sensors.Research with Arduino open source hardware as the main controller,Laser ranging is used to obtain obstacle distances,vision sensors are used for image acquisition within a safe obstacle avoidance distance,and combine Python and OpenCV to process and analyze the obstacle image information,and then the obstacle avoidance control strategy of the car is realized based on the size,coordinates,distance and other information of the obstacle.Experiments show that the obstacle avoidance system of the car based on Arduino controller that integrates laser ranging and visual sensors has good stability and anti-interference.

关 键 词：智能小车 安全避障距离 避障策略 ARDUINO OPENCV 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]