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

Abstract

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.