Shulou(Shulou.com)06/03 Report--

Lidar in the application of environmental challenges, when encountered light source, glass, high reflection materials, lidar ranging and positioning results will be affected, and then affect the subsequent robot navigation to avoid obstacles. So, in the external environment, what can we do to improve the ranging and scanning performance of radar?

Glass, mirrors, polished, smooth walls

The above are the glass, mirror, smooth, polished walls that lidar often encounter in the application environment. When the lidar encounters the above situations, the laser penetration or inability to return may occur. Some of the following treatments can be done to enhance the reliability of ranging.

1. Frosting the specular material directly can significantly improve the radar response and increase the measurable distance.

two。 Sticking standard high reflective matte tape directly to the surface of the material can significantly improve the problems that can not be detected by radar.

3. Using Advertising spray Tape to raise the ranging limit

The relationship between grayscale and distance limit

4. Apply a frosted film on the surface of the material (this solution is only effective in the near range of radar, about 3m)

Long corridor with no obvious characteristics

The above are often encountered in hotels, shopping malls, offices and other application scenarios. These promenades have no obvious characteristics, which will result in inaccurate mapping and positioning when the radar is in use.

▲ mapping is not accurate.

When you encounter these long corridors with no obvious characteristics:

1. Putting some green plants in the promenade can effectively improve the deviation of positioning and mapping. But here, the surface of the flowerpot had better be matte and high anti-surface.

two。 Characterize the sidewall of the corridor

If the sidewall of the corridor is detectable (meeting the requirements of radar detection), the black finish can be used to draw an undetectable area of 30cm every 3 to 4m.

If the corridor sidewall itself is undetectable, the above-mentioned "glass, mirror, surface polished wall …" can be used. " The method described in this paper converts an undetectable surface into a detectable surface, and then retains an undetectable area of about 30cm every 3 to 4m.

These areas do not need to be very regular, and can be adjusted according to the situation of the implementation site, as long as you ensure that each section of the area has its own characteristics.

The above are some methods to improve the efficiency of radar ranging and scanning. Of course, in addition to adjusting the on-site environment, other sensors or technologies can also be used. For example, ultrasonic can be used to detect glass, mirror and other highly reflective materials, and SLAM algorithm can be used to locate and map the unfeatured long straight corridor to complete the closed loop.

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