Three-dimensional environment perception method for mobile robot

A mobile robot and environment perception technology, which is applied in the directions of instruments, image data processing, and re-radiation, can solve the problems of expensive laser radar system, volume, and weight that are not suitable for mobile robot applications, and achieve good flexibility.

Inactive Publication Date: 2007-08-01
CENT SOUTH UNIV
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

However, the current lidar system capable of measuring the three-dimensional environment is still ve

Method used

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  • Three-dimensional environment perception method for mobile robot
  • Three-dimensional environment perception method for mobile robot
  • Three-dimensional environment perception method for mobile robot

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Embodiment Construction

[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0021] Accompanying drawing 2 is the schematic diagram of lidar and rotating pan-tilt, 1 is pitching and rotating pan-tilt, 2 is lidar, 3 is scanning optical center, 4 is horizontal rotation center, 5 is pitch rotation center, 6 is stepper motor, 7 is a horizontal rotary platform, and 8 is a stepper motor.

[0022] The two-dimensional laser radar 2 is loaded on the tilting and rotating platform 1, and the industrial computer (IPC) controls the laser radar 2 to rotate in the vertical direction around the pitching rotation center 5 through the stepping motor 6. The laser radar 2, the pitch rotation center 5, and the stepper motor 6 are all installed above the horizontal rotation platform 7, and the industrial computer (IPC) controls the laser radar to rotate in the horizontal direction around the horizontal rotation center 4 through the stepper motor 8. ...

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Abstract

This invention relates to one mobile robot 3D sensor method, which comprises steps of environment information acquiring, environment information self adapting filter, environment coordinate exchanging and 3D sensing. This invention gets robot environment information through one sense platform composed of 2D laser radar, rotation bench and step motor. This invention also provides one dynamic self-adaptive filter to realize dynamic filter noise removing aim for environment information interference.

Description

technical field [0001] The invention relates to an external information perception and navigation method of a mobile robot, which is an environment perception method in an unstructured environment. Background technique [0002] For a long time, there has been a lack of necessary means to obtain 3D environmental information. In the process of 3D modeling, multi-eye computer vision is easily affected by various factors such as illumination, resolution, focus adjustment, and focus point selection. The lidar 3D imaging technology developed in recent years can effectively solve the problem of visual technology in obtaining depth information. The laser ranging system includes a single-point ranging sensor, a two-dimensional laser radar that scans a line on a plane, and a three-dimensional laser radar that can scan an area. In a structured operating environment, the lidar is usually placed horizontally at a certain height of the mobile robot to detect obstacles on a two-dimension...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/26G01C21/36G01C21/34G01S17/06G01B11/02G01B11/03G06T7/00G09B29/00G09B29/10
Inventor 蔡自兴邹小兵王璐段琢华于金霞文志强陈白帆郑敏捷
Owner CENT SOUTH UNIV
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