Research On 2D Lidar Detection System For Biped Robot

Robot environmental perception of 2D biped robots has always relied on manual parameter setting or remote control.This method consumes time and energy and is inefficient.Large humanoid robot research institutes will use 3D LiDAR,infrared sensors or binocular cameras to construct a single or combined structure to sense the surrounding environment in real time,and then the robot performs the next step of avoiding or crossing obstacles.However,these systems have the characteristics of complex construction,high requirements for platforms and high cost,which are not suitable for general research institutions in universities.Based on the background of the stability debugging of 2D biped robots when walking up and down the ladder and the slope,this paper proposes a method of using 2D LiDAR and SSD algorithm to build a real-time acquisition of relevant data on the upper and lower ladder and slope.The data obtained by this method can offer a reference for the next obstacle avoidance action of 2D biped robot.Firstly,the point cloud data of 2D LiDAR striking vertically on ladder and slope are studied,and a method for separating the point cloud data of different planes on the current ladder is proposed.This method can obtain the distance between the ladder and the robot,the height of the ladder and the width of the ladder in real time.In addition,a real-time method for obtaining the real-time angle of the current robot on the curved slope is proposed.Then,the deep learning algorithm SSD is studied.After using finetuning method and network training of self-made data sets,the SSD can recognize the obstacles such as ladder and slope mentioned in the background of this paper.The communication between the target result signal detected by SSD algorithm and the development software of LiDAR module is completed by using serial port.Finally,the LiDAR detection system of SSD module and 2D LiDAR module is built.It can first identify the ladder and slope through SSD module,and then transmit the identified target signal to the development software of LiDAR module through serial port.The LiDAR module can start relevant codes and measure the related data of the ladder or slope in real time.It is proved by the physical environment of KT board that the system can realize these functions initially.Compared with the system of large research institutes,the system has the advantages of simple structure,good real-time performance and low cost.