基于激光传感器的运载机器人视觉系统研究

Research on vision system of mobile robot based on laser sensor

传统机器人视觉系统进行视觉导航时,存在嵌入式系统内核小的弊端,对导航图像的匹配性分析效果差,导致系统导航效率和准确率低,为此设计了基于激光传感器的运载机器人视觉系统。系统采用半导体激光器采集激光信号,反射到摄像机后获取被扫描对象图像,通过视觉伺服模块与电机驱动模块,促使运载机器人向目标物准确移动;系统软件采用SSDA算法增强视觉导航图像的搜索匹配度,并采用支持-频繁度运算运载机器人运行记录矩阵,获取运载机器人的最佳路径。实验结果表明,该系统可有效指示机器人搜索障碍物,视觉导航耗时短,准确率高。

The traditional visual navigation based on picking robot vision system has the disadvantage of small bedded system kernel, and the matching analysis effect of navigation image is poor, resulting in low system navigation efficiency and accuracy. A vision system based on laser sensors is designed for carrying robots. The system uses semiconductor lasers to collect laser signals, and is controlled by visual servo modules and motor drive modules to enable the carrying robots to move accurately to the target. The system software algorithm enhances the search compatibility of visual navigation images, and uses the support-frequency calculation of the carrier robot's operation record matrix to obtain the best path for the carrier robot. The experimental results show that the system can effectively instruct the robot to search for obstacles, and the visual navigation takes only 18 seconds, the accuracy rate is close to 100%, and it has the advantages of fast navigation efficiency and high accuracy.