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A filtering method and laser navigation method for reflection points of a laser reflection plate

A technology of laser reflection and reflection point, applied in two-dimensional position/channel control, instrument, control/adjustment system, etc., can solve problems such as confusion, and achieve the effect of avoiding errors, enhancing accuracy, and improving precision

Active Publication Date: 2021-05-14
浙江众导机器人科技有限公司
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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing laser scanning sensor is prone to confusion when scanning the reflection point of the reflector

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  • A filtering method and laser navigation method for reflection points of a laser reflection plate
  • A filtering method and laser navigation method for reflection points of a laser reflection plate

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Embodiment Construction

[0014] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the embodiment of the present invention Some, but not all, embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

[0015] In order to solve the problem of disordered identification of reflection points of reflectors, the present invention provides a filtering method for reflection points of laser reflectors, such as figure 1 As shown, the steps involved are:

[0016] S101: The laser scanning sensor receives the reflected laser light after being emitted, and records the reflection intens...

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Abstract

The invention provides a method for filtering reflection points of a laser reflection plate, which includes the following steps: a laser scanning sensor receives the reflected laser light after being emitted, and records the reflection intensity sequence of the reflected laser light, and then judges each reflection intensity sequence one by one Whether it is generated by the reflection of the reflector; frame the target reflection intensity sequence to be judged on the reflection intensity sequence; calculate the mean value of the reflection intensity value of the reflection intensity sequence in the frame selection, and use the mean value as a reference value; use the target reflection intensity The reflection intensity value of the sequence is compared with the reference value. If the difference between the reflection intensity of the target reflection intensity sequence and the reference value is not less than the set threshold value, it is recorded as 1, and if it is less than the set threshold value, it is recorded as 0; it is judged that the record is 1 or 0 reflection Whether the intensity sequence is emitted for reflector reflection points. The reflection point of the reflector is filtered, which strengthens the recognition accuracy of the reflection point of the reflector during the navigation process, improves the accuracy of navigation, and avoids navigation errors.

Description

technical field [0001] The invention relates to the field of intelligent robot navigation, in particular to a method for filtering reflection points of a laser reflector and a laser navigation method. Background technique [0002] The positioning and navigation technology based on laser scanning sensors is a key technology in the fields of industrial AGV and intelligent robots. Compared with the traditional track navigation method, laser navigation has the advantages of high positioning accuracy and flexibility, and is suitable for complex, high in a dynamic industrial scene. According to the intensity of the beam energy reflected by several laser reflectors returned by the laser scanning sensor, the strong reflection area of ​​the laser reflector can be distinguished from the environment, thereby distinguishing the reflection points of the laser reflector; but during the laser scanning process, any As the distance between the reflector and the laser scanning sensor increas...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0231
Inventor 韩勇张腾飞
Owner 浙江众导机器人科技有限公司
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