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