A Method for Detection of Obstacle Using Line Laser and Camera

摘要

Recently, the need for unmanned transport robots has increased. However, it has some problems. The transfer robot have to have a determined route. In addition, if there is a package on the traveling route, it has a possibility of collision. Thus, a technology for obstacle detection is important to avoid collision. As obstacle detection sensors recently, ultrasonic sensors, PSD sensors, and cameras are often used. However, there are several disadvantages. Ultrasonic sensors include errors due to sound noise, so they should be used in a quiet environment. The measurable distance of the PSD sensor is narrow. In addition, the sensor malfunctions due to irregular reflection from the floor. As for a camera, as it is necessary to sequentially update the background image, the calculation cost is high, and the detection accuracy is not high as compared with other sensors. To solve the problems, this study proposes an obstacle detection method using a line laser and a camera.