Design of a laser distance sensor with a web camera for a mobile robot

Ashykhmin Mykhailo

Type of document

diplomová práce
master thesis

Author

Ashykhmin Mykhailo

Supervisor

Novák Martin

Opponent

Chyský Jan

Field of study

Přístrojová a řídicí technika

Study program

Strojní inženýrství

Institutions assigning rank

ústav přístrojové a řídící techniky

Defended

2016-06-30

Rights

A university thesis is a work protected by the Copyright Act. Extracts, copies and transcripts of the thesis are allowed for personal use only and at one?s own expense. The use of thesis should be in compliance with the Copyright Act http://www.mkcr.cz/assets/autorske-pravo/01-3982006.pdf and the citation ethics http://knihovny.cvut.cz/vychova/vskp.html
Vysokoškolská závěrečná práce je dílo chráněné autorským zákonem. Je možné pořizovat z něj na své náklady a pro svoji osobní potřebu výpisy, opisy a rozmnoženiny. Jeho využití musí být v souladu s autorským zákonem http://www.mkcr.cz/assets/autorske-pravo/01-3982006.pdf a citační etikou http://knihovny.cvut.cz/vychova/vskp.html

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Abstract

Rozpacování přístroje a programu pro měření vzdálenosti s použitím laseru a web-kamery pro mobilního robota.

Mobile robots have become more widespread in commercial, scientific and industrial usage. Modern challenges require robots to autonomously navigate its course and being capable to avoid obstacles in unknown environment. Devices for obstacle detection and distance determination are beneficial for robot navigation. This thesis presents device and vision processing software application created for mobile robot. Designed device consists of required elements - web-camera and laser emitter, assembled together in movable frame, which can be easily connected to driven motor and to robot. Using web-camera image, the software must recognize released laser line on the surface of obstacle, and determine distance to it. The vision software is based on brightest pixel extraction from image to detect the position of laser beam in environment and applying triangulation principles for distance calculation. The precision of this approach was demonstrated by successful tests.