![3d pointclouds](/sites/bakerhughes/files/styles/small_2_1_768x380_/public/2023-01/12-panorama.png?h=8a1f68c4&itok=70Ak1u-P)
3d Pointclouds
Enables a robot to steer safely through unknown and potentially dangerous 3D environments
The robot carries a rotating 3D Laser Range Finder (specially developed for this application). The laser data, consisting of 3D point clouds is transmitted to a control PC where it is processed. The processing involves matching new data to previously collected points in such a way that a coherent point cloud results which is correctly representing the environment. On the PC, a viewer application allows the operator to observe this representation in a convenient way.
![icon-point cloud](/sites/bakerhughes/files/styles/max_650x650/public/2023-01/icon-pointcloud.jpg?itok=Nq_DYkn-)
Pointcloud
3D Laser Range finder creates a pointcloud of the environment. By moving the robot, several pointclouds are created from different positions. This gives a “denser” pointcloud with more information.
![icon-gears](/sites/bakerhughes/files/styles/max_650x650/public/2023-01/icon-gears.jpg?itok=v-f9YaxX)
Sensor Data
Robot sensor data like IMU (inertia measurement unit) and encoder data (wheel rotations) are added to the model as additional information source.
![icon-laptop](/sites/bakerhughes/files/styles/max_650x650/public/2023-01/icon-laptop.jpg?itok=qi4vPdww)
Data Processing
Advanced algorithms process all data from the stitched pointcloud and the onboard sensor data to calculate the exact position in the 3D space.
The navigation system has a modular architecture. This is mainly possible due to the use of Ethernet for communications. Depending on which modules are mounted / used, the navigation filter on the PC computer can provide a better or rather rough localization estimation. The software architecture is based on individually coded modules which communicate over inter-process channels in order to share information.
· The motor control software (which includes the navigation filter)
· Laser point cloud processor
· The 3D visualization module
· The video recording and playback module
The navigation modules communicate to a control PC over Ethernet. The data is evaluated by software directly on the PC. The robot control software also runs on the PC and sends motion commands to the on-board motor controllers over Ethernet.
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