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Surface laser device-based barrier distance measuring method

A laser and obstacle technology, applied in the field of distance calculation, can solve the problems of long time-consuming three-dimensional scanning, real-time calculation of unfavorable obstacles, etc.

Inactive Publication Date: 2017-06-20
肖伟
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0003] Since the three-dimensional scanning of the mechanical mechanism takes a long time, it is not conducive to the real-time calculation of obstacles by the robot

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0007] The present invention is based on the surface laser obstacle distance method, including step 1: turn on the camera; step 2: turn on the surface laser, scan the object in front with the laser emitted by the surface laser, and record the current rotation angle; step 3: the camera collects the current image; step 4: Calculate the pixel coordinate system of the laser emitted by the surface laser in the image from top to bottom; Step 5: Calculate the pixel coordinate system of the laser emitted by the surface laser in the image from top to bottom according to step 4 and the current rotation recorded in step 2 Calculate the world coordinate system of the point by angle; step 6: skip to step 4 until all coordinate points of the ray are calculated; step 6: turn the surface laser; step 4: skip to step 2 until all presets are scanned angle.

[0008] In this way, the three-dimensional coordinates of the obstacle can be calculated by one-dimensional scanning plus the surface laser,...

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Abstract

The invention discloses a method for obstacle distance based on a surface laser, comprising step 1: turning on the camera; step 2: turning on the surface laser, scanning the object in front with the laser emitted by the surface laser, and recording the current rotation angle; step 3: collecting the current image by the camera ; Step 4: Calculate the pixel coordinate system of the laser emitted by the surface laser in the image from top to bottom; Step 5: Calculate the pixel coordinate system of the laser emitted by the surface laser in the image from top to bottom according to step 4 and step 2 The recorded current rotation angle calculates the world coordinate system of this point; step 6: skip to step 4 until all coordinate points of the ray are calculated; step 6: rotate the surface laser; step 4: skip to step 2 until scanning Completely preset all angles. In this way, the three-dimensional coordinates of the obstacle can be calculated by one-dimensional scanning plus the surface laser, so as to obtain the distance from the obstacle to the robot.

Description

technical field [0001] The invention relates to a distance calculation method, in particular to an obstacle distance method based on a surface laser. Background technique [0002] Robots must move in an outdoor environment, and it is inevitable to deal with obstacles. The distance and size of obstacles must be calculated through the signals collected by the visual sensor. If a point laser is used to scan in three-dimensional space to calculate the distance of obstacles, the point laser must first scan in one-dimensional plane, and then perform three-dimensional scanning in the third direction to obtain an obstacle in three-dimensional space distance information. [0003] Since the three-dimensional scanning of the mechanical mechanism takes a long time, it is not conducive to the real-time calculation of obstacles by the robot. Contents of the invention [0004] The technical problem to be solved by the present invention is to provide a method based on the obstacle dist...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C3/10
CPCG01C3/10
Inventor 不公告发明人
Owner 肖伟
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