基于单线激光雷达的割草机器人建图方法研究

doi:10.13733/j.jcam.issn.2095-5553.2022.10.008

摘要/Abstract

摘要： 针对单线激光雷达无法感知形状不规则的花丛问题，提出一种基于单线激光雷达的3D-SLAM方法，解决单线激光雷达不能实现多平面感知的问题。设计一个自动升降激光雷达高度装置，该装置主要由丝杆滑台、步进电机、雷达架、单线激光雷达等组成，通过丝杆滑台滑块的水平进给，控制激光雷达竖直运动。割草机器人在工作时，通过激光SLAM（同步建图与定位）技术检测障碍物信息，ROS（机器人操作系统）系统根据不规则障碍物的高度做出相应对策。通过对不同状态的建图效果进行量化和对比分析，试验结果表明：改进后与改进前相比，相对误差率降低1.04%；漏检率降低为0；避障率提高93.33%。本研究为割草机器人的准确定位与避障提供理论依据。

关键词: 割草机器人, 自动升降装置, 激光雷达, ROS, SLAM

Abstract: Aiming at the problem that singleline LiDAR cannot sense irregularly shaped flowers, a 3D-SLAM method based on singleline LiDAR was proposed to solve the problem that singleline LiDAR cannot achieve multiplane sensing. In this paper, an automatic lifting LIDAR height device was designed, which mainly consisted of a screw slide, stepper motor, radar frame, singleline LiDAR and so on. The vertical movement of the LiDAR was controlled by the horizontal feed of the screw slide slider. Lawn mowing robots at work, obstacle information was detected by laser SLAM (Simultaneous Localization and Mapping) technology, and the ROS (Robot Operating System) system made corresponding countermeasures according to the height of irregular obstacles. By quantifying and comparing the effect of map building in different states, the experimental results showed that: the relative error rate was reduced by 1.04% after improvement compared to before improvement; the missed detection rate was reduced to 0; and the obstacle avoidance rate was increased by 93.33%. This research provided a theoretical basis for the accurate localization and obstacle avoidance of lawn mowing robots

Key words: lawn mowing robot, automatic lifting device, LiDAR, ROS, SLAM

中图分类号:

王新彦, 张凯, 盛冠杰, 易政洋. 基于单线激光雷达的割草机器人建图方法研究[J]. 中国农机化学报, 2022, 43(10): 51-56.

Wang Xinyan, Zhang Kai, Sheng Guanjie, Yi Zhengyang.. Research on the mapping method of a mowing robot based on singleline LiDAR[J]. Journal of Chinese Agricultural Mechanization, 2022, 43(10): 51-56.

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