| Now mobile robot is slowly into our life, let our life become more convenient andwork more comfortable and lead the development of the Intelligent era. Yet in a mobilerobot technology, laser radar which can be said to be the core parts of the mobile robot ismainly used for positioning and navigation. Laser radar cost is very expensive, however,it is also restricted one cause of the mobile robot is widely application.This topic mainlyis easy to implement in the design of a low-cost laser radar, is mainly applied to SLAMnavigation and three-dimensional imaging field.This topic laser radar is the basic principle of laser triangulation method combinesvisual measurement technique to scanning imaging.The specific process is that laserproduces laser beam, beam happens scattering in the measure surface, the scattered lightthrough the camera into the CCD imaging plane.Then based on the CCD laser speckleimage data processing, can calculate the pixel coordinates of laser spot center.Then usingtriangulation method, the establishment of the geometric model of laser light path,through the geometric relationship, according to the laser spot center pixel coordinates,tocalculate the laser spot actual spatial coordinates. Laser radar by above methods everymeasure pixel coordinates data, single-chip microcomputer control steering gear rotatingonce, at the same time, the current steering gear rotation Angle and measured data to PCthrough serial port. According to the pixel coordinates and rotation Angle to calculate therelative to the center of the steering gear rotating space coordinates, using PC softwarerendering imaging.Laser radar is the core of the mobile robot localization and navigation sensors, thistopic mainly implements a low-cost laser radar, but there are poor in stability, and the lastto summarize the full text, and put forward this project of laser radar the improvement ofmechanical structure and cameras, to compensate for the lack of stability. |
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