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Three-dimensional laser SLAM system based on 2D laser radar and control method thereof

A laser radar and three-dimensional laser technology, applied in radio wave measurement systems, re-radiation of electromagnetic waves, instruments, etc., can solve problems such as large viewing angle, and achieve the effect of large viewing angle, high precision and reasonable composition

Active Publication Date: 2019-02-19
NORTHEASTERN UNIV
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  • Application Information

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Problems solved by technology

The whole system is not only easy to operate, low in cost, not affected by ambient light, but also has a large viewing angle

Method used

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  • Three-dimensional laser SLAM system based on 2D laser radar and control method thereof
  • Three-dimensional laser SLAM system based on 2D laser radar and control method thereof
  • Three-dimensional laser SLAM system based on 2D laser radar and control method thereof

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Embodiment Construction

[0066] The invention will be further described below in conjunction with the accompanying drawings and specific implementation examples. The three-dimensional laser SLAM system based on 2D laser radar specifically includes: the main body of the device, such as figure 1 As shown in the solid line box, router, computer; wherein, the main body of the device includes: embedded development board, DC power supply, 2D laser radar, steering gear and conductive slip ring, such as figure 1 shown;

[0067] The conductive slip ring includes: a conductive slip ring rotor and a conductive slip ring stator;

[0068] The embedded development board is connected with the router, and the router is connected with the computer; the DC power supply is connected with the conductive slip ring stator, the embedded development board and the steering gear respectively; the conductive slip ring stator is connected with the conductive slip ring rotor, and the conductive slip ring The ring rotor is connec...

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Abstract

The invention provides a three-dimensional laser SLAM system based on a 2D laser radar and a control method thereof. The system specifically comprises: a device body, a router, and a computer. The device body comprises: an embedded development board, a DC power supply, a 2D laser radar, a steering gear and a conductive slip ring. The system theory of the invention is combined with reality, and thecomposition is reasonable, concise and convenient. The invention can quickly establish and realize three-dimensional map and positioning, and has low cost, simple operation and convenient use. The entire system can be used not only in a handheld mode but also on a mobile robot. In the indoor and outdoor environment, the invention not only can establish a three-dimensional reconstruction map in real time, but also can calculate the position of a sensor by the SLAM algorithm to realize the real-time positioning function. Compared with the three-dimensional laser radar, the invention has large field of view, 360 degrees without dead angle, and is more suitable for construction in indoor environment, and the cost is lower. In addition, the entire system is also easy to operate and is not affected by ambient light.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional simultaneous positioning and mapping, and in particular relates to a three-dimensional laser SLAM system and a control method based on a 2D laser radar. Background technique [0002] With the continuous advancement of computer technology, mobile robotics has been increasingly used in the fields of lunar exploration, civilian robots, and robotic engineering and operations. Robotics, also known as robotics, focuses on dealing with the relationship between the control of the robot and the objects being handled. Robotics encompasses many subjects, mainly involving kinematics and dynamics, system architecture, perception techniques, and control techniques. Among them, simultaneous localization and mapping (SLAM) of robots is a key technology of mobile robots. The SLAM system of high-precision mobile robots is the premise of automatic control and path planning, and it is also a difficult pro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/89
CPCG01S17/89
Inventor 方正李昊来
Owner NORTHEASTERN UNIV
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