Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Outdoor robot pavement evaluation method
**The invention provides an outdoor robot pavement evaluation method, which comprises the following steps of: firstly, ensuring that a certain included angle is formed between the x axis of a laser radar and the horizontal ground, then obtaining a plane alpha through a point emitted to the ground by a 3D laser radar, and obtaining a plane alpha * under an ideal condition according to a geometrical relationship between the 3D laser radar and a robot; obtaining a straight line b through the point cloud of the 2D laser radar falling on the ground, and obtaining a straight line b * under an ideal condition according to the geometrical relationship between the 2D laser radar and the robot; and the evaluation of the road condition state is realized through logic judgment. According to the invention, the existing 3D laser radar for mapping and the 2D laser radar sensor for obstacle detection of the vehicle body are reused, the 3D laser radar and the 2D laser radar of the laser radar are used for sensing the road condition information of the target area under the robot coordinate system, and the detection blind area is reduced and the detection precision is improved through a certain sensor layout method. The falling risk of the robot is greatly reduced, and the operation safety performance of the robot in an outdoor complex scene is improved.
本发明提供了一种室外机器人路面评价方法，首先保证激光雷达x轴与水平地面呈一定的夹角，然后通过3D激光雷达射到地面上的点获取平面α，由3D激光雷达和机器人的几何关系得到的理想情况下的平面α*；通过2D激光雷达落在地面的点云获取直线b，由2D激光雷达和机器人的几何关系得到的理想情况下的直线b*；再通过逻辑判断，实现对路况状态的评价。本发明通过复用车体已有的用于建图的3D激光雷达和用于障碍物检测的2D激光雷达传感器，通过激光雷达的3D和2D激光雷达用于感知在机器人坐标系下目标区域的路况信息，通过一定的传感器布局方法缩小检测盲区并提高检测精度，极大的降低了机器人跌落风险，提高机器人在室外复杂场景下运行的安全性能。
Outdoor robot pavement evaluation method
**The invention provides an outdoor robot pavement evaluation method, which comprises the following steps of: firstly, ensuring that a certain included angle is formed between the x axis of a laser radar and the horizontal ground, then obtaining a plane alpha through a point emitted to the ground by a 3D laser radar, and obtaining a plane alpha * under an ideal condition according to a geometrical relationship between the 3D laser radar and a robot; obtaining a straight line b through the point cloud of the 2D laser radar falling on the ground, and obtaining a straight line b * under an ideal condition according to the geometrical relationship between the 2D laser radar and the robot; and the evaluation of the road condition state is realized through logic judgment. According to the invention, the existing 3D laser radar for mapping and the 2D laser radar sensor for obstacle detection of the vehicle body are reused, the 3D laser radar and the 2D laser radar of the laser radar are used for sensing the road condition information of the target area under the robot coordinate system, and the detection blind area is reduced and the detection precision is improved through a certain sensor layout method. The falling risk of the robot is greatly reduced, and the operation safety performance of the robot in an outdoor complex scene is improved.
本发明提供了一种室外机器人路面评价方法，首先保证激光雷达x轴与水平地面呈一定的夹角，然后通过3D激光雷达射到地面上的点获取平面α，由3D激光雷达和机器人的几何关系得到的理想情况下的平面α*；通过2D激光雷达落在地面的点云获取直线b，由2D激光雷达和机器人的几何关系得到的理想情况下的直线b*；再通过逻辑判断，实现对路况状态的评价。本发明通过复用车体已有的用于建图的3D激光雷达和用于障碍物检测的2D激光雷达传感器，通过激光雷达的3D和2D激光雷达用于感知在机器人坐标系下目标区域的路况信息，通过一定的传感器布局方法缩小检测盲区并提高检测精度，极大的降低了机器人跌落风险，提高机器人在室外复杂场景下运行的安全性能。
Outdoor robot pavement evaluation method
室外机器人路面评价方法
CHEN ZONGKUI (Autor:in) / LIAN ZHIJUN (Autor:in) / FAN SHENGFENG (Autor:in)
27.06.2023
Patent
Elektronische Ressource
Chinesisch
IPC:
G01S
RADIO DIRECTION-FINDING
,
Funkpeilung
/
E01C
Bau von Straßen, Sportplätzen oder dgl., Decken dafür
,
CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE
/
G01M
TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES
,
Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen
Pavement detection robot and pavement detection method
| Europäisches Patentamt | 2023