LiDARと鏡を用いた資材運搬ロボットの衝突回避のためのセンシングシステム

抄録

We have developed a material transport robot that autonomously carries loads at construction sites and factories. This robot is required not only to follow a predetermined route but also to avoid collisions while in motion. Therefore, when the loaded materials extend beyond the cargo bed, it is essential to measure the overhang and account for it in collision avoidance. To achieve this, we designed a sensing system using a 2D LiDAR and a mirror to measure the overhang of the materials. By reflecting the laser light emitted from the LiDAR with a mirror, we measured distances to objects in three dimensions. This measurement method enables both the detection of material overhang from the cargo bed and the monitoring of the surrounding environment.