Research On Digital Reconstruction Technology Of 2D Lidar Structured Environment Based On Mobile Robot

With the continuous in-depth study of the field of computer vision,the surveying and mapping method and three-dimensional reconstruction method based on laser measurement technology has become a hot research direction in all walks of life.In the actual industrial application scenarios,regular and structured scenarios are common,such as tunnels,corridors and other environments.Aiming at the problem of digital reconstruction in structured environment,this paper designs a 2D lidar digital reconstruction system based on mobile robot.The system uses a mobile robot equipped with a single line lidar sensor to build a three-dimensional radar scanning system to realize automatic scanning and real-time reconstruction of the structured environment.The 3D point cloud data of the experimental scene is obtained through the data fusion and coordinate transformation process through the angle distance value collected by the lidar carried by the mobile robot and the position information calculated by the robot encoder.(1)Design and implementation of mobile robot radar acquisition system.Firstly,the mobile robot control module,radar scanning module,control and data acquisition module are designed and built,and the characteristics of lidar are studied,and the influence of different materials on laser ranging sensor is analyzed.(2)Digital reconstruction process.Firstly,the digital reconstruction process of the system is introduced in detail,and then the odometer calculation,data correction,data fusion and point cloud splicing are introduced in turn.The first step is to calculate the odometer and determine the position and pose information of the robot;the second step is to correct the data.In order to solve the problem of mobile robot movement deviation,a fuzzy PD control algorithm is adopted to ensure the accuracy of the system data acquisition;the third step is the data fusion module,aiming at the problem of odometer data and lidar sensor data fusion,a data fusion method is proposed The fourth step is to realize the transformation from 2D point cloud to 3D point cloud through coordinate transformation,so as to realize the digital reconstruction of structured environment.(3)Preprocessing of vehicle radar data.Firstly,the storage form of point cloud is introduced,and the causes of noise in the original point cloud data are further analyzed.According to the scanning characteristics of lidar and the characteristics of structured environment,the original point cloud is filtered by combining the filtering based on the sensor's own accuracy with the filtering based on the geometric characteristics and the scanning line.The experimental results show that the algorithm is effective in filtering noise Good.Finally,the experimental platform of digital reconstruction system is debugged,and the automatic acquisition ability,texture feature reconstruction effect and 3D measurement accuracy of the system are tested and evaluated.In this paper,the pipeline,corridor,indoor and other industrial application environment as the experimental scene,the reconstruction experiment,the results show that the digital reconstruction system can realize the automatic data acquisition and real-time reconstruction of structured environment,and the reconstruction results have clear texture features and high measurement accuracy.