CAJ | 학술논문

感知车间环境是实现自动引导小车（ AGV）智能化自主运行的基础。三维场景建模比二维地图更适于表达非结构化场景信息，然而已有的激光雷达技术和视觉技术实现方法都有其不足之处。文中利用RGB-D深度传感器，结合移动机器人及开源机器人操作系统（ ROS）建构了一套软硬件系统，用于制造车间环境的复杂大场景三维建模；介绍了该系统光机电硬件和ROS软件的各模块功能与集成设计，以及相应的扫描策略，并用该集成系统进行了车间局部环境自动连续扫描、数据拼接、三维建模实验。结果表明用该系统可以较好地完成三维场景建模任务。
감지차간배경시실현자동인도소차（ AGV）지능화자주운행적기출。삼유장경건모비이유지도경괄우표체비결구화장경신식，연이이유적격광뢰체기술화시각기술실현방법도유기불족지처。문중이용RGB-D심도전감기，결합이동궤기인급개원궤기인조작계통（ ROS）건구료일투연경건계통，용우제조차간배경적복잡대장경삼유건모；개소료해계통광궤전경건화ROS연건적각모괴공능여집성설계，이급상응적소묘책략，병용해집성계통진행료차간국부배경자동련속소묘、수거병접、삼유건모실험。결과표명용해계통가이교호지완성삼유장경건모임무。
Environment perception is a prerequisite for the autonomous intelligent operation of automatic guided ve -hicles, and 3D maps are more suitable than the 2D ones for representing an unstructured scene .However, the exi-sting laser radar-and vision-based methods both have some deficiencies .In this paper , a RGB-D sensor mounted on a mobile robot with open-source ROS framework is used to build an integrated system for the three-dimension modeling of large-scale and complex scenes in manufacturing plants , and the architecture of hardware and ROS soft-ware modules of the system as well as the scanning strategy is introduced .Moreover , an experiment is carried out to investigate the automatic continuous scanning of a region in a manufacturing plant scene , the data registration and the three-dimension modeling of the system .The results show that the proposed system meets the requirements of three-dimension scene modeling well .