介绍了URG-04LX2维激光扫描测距传感器的测距原理和功能，采用全速USB和RS232C两种外部接口向传感器传输测距数据命令，读取距离数据并处理。测距试验表明，传感器能准确测量出到平面的距离，地板砖、白色纸、黄色纸和土壤等被测对象在2 m以内的测量误差小于10 mm，但不同材质或颜色的被测对象激光扫描传感器的测量精度存在一定差异。障碍物检测试验表明，传感器的数据能清晰地检测到障碍物，并获得障碍物在传感器坐标系内的坐标值和障碍物尺寸等参数，测量到的障碍物尺寸误差小于10 mm。%The paper introduces the principle and function of URG-04LX 2-dimensional laser range finder. For exchanging data between host and sensor, the communication can been done via full-speed USB or RS232C external interfaces. The decoding method for sensor’s encoded data is given. Distance measurement test show that the sensor can accurately measure the distance between the plane and sensor. To floor tiles, white paper, yellow paper or soil as measured object, measurement error is less than 10 mm at 2 000 mm measuring range. Affected by material or color of measured object, there are some differences in measurement accuracy. And the obstacles can be clearly detected by the sensor. Size, coordinates and other parameters of obstacles is obtained in sensor coordinate system. Measurement error of the size is less than 10 mm.
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