DYNAMIC COMPENSATION METHOD FOR SCAN DISTANCE DATA MEASURED WHEN MOBILE ROBOT AND LASER SCANNER ARE MOVING FAST AND SCAN DISTANCE DATA MEASURED APPARATUS USING THEREOF

摘要

Disclosed are a method for compensating a dynamic error of scan distance data measured when a mobile robot and a laser scanner are moved fast, and a device for measuring scan distance data using the same. The device comprises: a laser scanner (150) which is mounted in a mobile robot to scan an object according to a movement of the mobile robot and outputs a plurality of scan distance data; a scan distance data acquisition unit (200) for extracting the scan distance data within a reflective light source in which a light source outputted from the laser scanner is reflected on the object; a dynamic error compensation unit (300) for receiving the scan distance data outputted from the laser scanner to output a compensation value in which a dynamic error is compensated; an effective information extraction unit (400) for receiving the compensation value to extract effective information; and an effective information algorithm processing unit (500) for programming an effective information algorithm applied to the technologies of recognizing a location and avoiding an obstacle using the effective information extracted from the effective information extraction unit. The dynamic error compensation unit (300) includes a measurement time extraction unit (310) for extracting the start and finish time of the scan distance data to output a first result value in which the measurement time of the scan distance data is calculated; an motion estimation unit (320) for outputting a second result value in which the locations and the directions of the mobile robot and the scanner are estimated using motor encoder information within the first result value; and a data compensation unit (330) for receiving the first and second result values to be converted to vector values and outputting the data converted to 3-dimensional spherical coordinates.