近年來Lidar感測器被大量應用在掃地機器人的SLAM系統，但Lidar通常僅提供平面的環境掃描，而缺乏高度的資訊。當掃地機器人進入某空間領域，可能因高度的限制無法離開此空間。使用3D視覺雖然可以解決空間障礙的問題，但其高成本和計算複雜度使其在消費型掃地機器人產品難以應用，而且仍需要改善其精確度(accuracy)和可靠度(reliability)。本計畫將研發一個應用於掃地機器人的雙線型雷射3D測距方法，透過兩個線型雷射和一個全域曝光的影像感測器來建立環境3D空間模型，我們將製作一個機器人平台，透過運動編碼器與IMU資訊獲得機器人運動路徑資訊，與雙線型雷射成像3D座標融合，我們使用A-Star與DWA融合兩種演算法從事機器人路徑規劃,完成一個以雙線型 Lidar為核心的3D建模和SLAM系統。最後我們將以掃地機器人實驗平台驗證此一系統具有比市面掃地機器人更高的效率、精確性和避障能力，可以應用在新一代的掃地機器人和廣泛的自主型機器人產品。 ;In recent years, Lidar sensors have been widely used in the SLAM system of cleaning robots, but Lidar usually only provides planar environmental scanning, and lacks height information. When the sweeping robot enters a certain space area, it may not be able to leave the space due to height restrictions. Although the use of 3D vision can solve the problem of space obstacles, its high cost and computational complexity make it difficult to apply to consumer sweeping robot products, and it still needs to improve its accuracy and reliability. This project will develop a dual-line laser 3D ranging method applied to sweeping robots, through two two line Lasers and a global exposure image sensor to build a 3D space model of the environment. We will implement a robot platform, acquire the robot motion path information through the motion encoder and IMU sensing information, and integrate it with the dual-line laser imaging 3D coordinates. We use the A-Star and DWA fusion algorithms for robot path planning, and complete a 2D Lidar ranging system and 3D SLAM system. Finally, we will use the sweeping robot experimental platform to verify that this system has higher efficiency, accuracy and obstacle avoidance than the market sweeping robots, and can be applied to a new generation of cleaning robots and a wide range of autonomous robot products.
