輕量化低成本全向式雷射測距儀設計與實作

隨著智慧型機器人的快速發展，用於室內機器人的室內導航技術也日益被重視。傳統的被動式室內導航技術，如循線導航、基地台信號強度偵測或影像追蹤等方式，均需對室內場地進行事先佈建，無法達到在未知室內環境自由導航的目的。因此主動式的室內導航技術漸成主流。在常用的主動式內導航技術中，可分為影像辨識、紅外線、超音波與雷射測距等偵測障礙或繪製地圖的感測方式。其中尤其以雷射測距的主動導航方式最為精確、且較不受燈光、溫度等外在因素的影響。然而市面上常見的雷射測距儀有以下幾種主要缺點，如可視角度有限，無法滿足360度全向環景視野的需求、且其體積與重量均相當大，不易裝備於重量較輕的室內機器人上（如四旋翼機器人），而其購置成本過高（動輒十萬元以上），也降低了平價服務型機器人採用雷射測距導航的機會。因此，為改善這些問題，本研究提出一『輕量化低成本全向式雷射測距儀』的開發，供室內導航機器人即時繪製室內地圖之用。透過CMOS攝影鏡頭、雷射光指示器與嵌入式微處理器，在焦平面上產生雷射成像點。並運用三角測距原理追蹤雷射成像點，便可即時求取高精確度的雷射測距值。同時利用CMOS之可調解析度特性，及可自行調整雷射光角度與攝影鏡頭的距離，可大幅改善傳統雷射測距儀之性能、降低其購置成本及適應各種機器人載具。

關鍵字

雷射測距儀；三角測距法；影像辨識； CMOS 成像；機器人導航

並列摘要

Nowadays, robots are becoming important roles in our daily life. It is worth noting that the most of smart robots usually work in an indoor environment. Therefore, the technology of indoor navigation is becoming an important issue. Traditional passive indoor navigation technologies, such as the line leader, WIFI/bluetooth RSSI navigations and Image recognition. These approaches generally require pre-set the target indoor environment. Therefore active indoor navigation approaches are growing currently. Common active indoor navigations, such as ultrasonic detection, infrared detection, and image recognition and laser range finder (LRF). Among these active navigation methods, the approach which is based on a laser range finder could provide the most exact data of the distance between robots and obstacles without the interferences of magnetic field and various lights. However, there are some major disadvantages of a commercial laser rangefinder as follows, such as the viewing angle is limited, and it cannot meet the 360-degree vision. The size and weight of a commercial LRF are usually too bucky and heavy to equip on a lighter indoor robots. Moreover, the cost of commercial LRF is significant high, thus the chances of service robots using laser ranging navigation is reduced. Therefore, in order to improve these issues, this study proposes the development of a “low-cost lightweight omnidirectional laser rangefinder" for indoor robot to build the navigation map. With the advantage of the CMOS adjustable resolution feature, the proposed approach could determine the distance and angle of the laser light and camera lens on their own, this proposed approach significantly improves the performance of conventional laser rangefinder, and the cost is also reduced to fit to the use of indoor service robots.

並列關鍵字

Laser ； range detection ； indoor ； map ； robot location ； path planning ； navigation

參考文獻

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輕量化低成本全向式雷射測距儀設計與實作

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