Proposal of a Method for Obstacle Detection by the Use of Camera and Line Laser

In recent years, the demand for unmanned transfer robots is increasing. However, most unmanned transfer robots run on a predetermined route. It cannot easily change its route. There is a possibility of collision if there is a package in the route. The technique of obstacle detection is important to avoid collision with obstacles. Currently, as an obstacle detection sensor, an ultrasonic sensor, PSD sensor camera are often used. However, these sensors have some disadvantages. As for ultrasonic sensor, an error occurs is caused by noise, and it cannot measure in a wide range. PSD sensors also cannot be used in a wide range. In addition, it malfunctions due to irregular reflection from the floor. In the case of a camera, it is necessary to sequentially update the background image. We cannot detect distance to the object by camera. In order to solve the above problems, this study proposes a method for obstacle detection using a line laser and a camera. With this method, an obstacle is detected in a wide range. It is possible to measure the size of and the distance to obstacle. In addition, it has the following features compared with the conventional methods. (1) Processing is simpler than camera processing. (2) It is not affected by variations in illumination and sound noise. (3) As the work before a robot starts, only setting the irradiation angle of laser and the distance between laser and robot. Therefore, the preliminary work can be remarkably reduced.