穆卫谊,张广鹏,黄玉美,闫雯,高恒.移动机器人的超声波传感器发散角标定及应用[J].仪器仪表学报,2017,38(3):560-567
移动机器人的超声波传感器发散角标定及应用
Calibration and application of ultrasonic sensor beam angle for mobile robots
  
DOI:
中文关键词:  移动机器人  超声波传感器  发散角  自动导航车定位
英文关键词:mobile robot  ultrasonic sensor  beam angle  positioning of automated guided vehicle (AGV)
基金项目:国家自然科学基金(51375379)、国家973项目(2009CB724406)、陕西省教育厅科学研究计划专项(16JK1517)、陕西省机械制造装备重点实验室项目(14JS062)资助
作者单位
穆卫谊 西安理工大学机械与精密仪器学院西安710048 
张广鹏 西安理工大学机械与精密仪器学院西安710048 
黄玉美 西安理工大学机械与精密仪器学院西安710048 
闫雯 西安理工大学艺术与设计学院西安710048 
高恒 西安理工大学机械与精密仪器学院西安710048 
AuthorInstitution
Mu Weiyi School of Mechanical and Precision Instrument Engineering, Xi′an University of Technology, Xi′an 710048, China 
Zhang Guangpeng School of Mechanical and Precision Instrument Engineering, Xi′an University of Technology, Xi′an 710048, China 
Huang Yumei School of Mechanical and Precision Instrument Engineering, Xi′an University of Technology, Xi′an 710048, China 
Yan Wen School of Art and Design, Xi′an University of Technology, Xi′an 710048, China 
Gao Heng School of Mechanical and Precision Instrument Engineering, Xi′an University of Technology, Xi′an 710048, China 
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中文摘要:
      为了提高移动机器人在作业站点的定位精度,在考虑入射角的基础上,分析了发散角对超声波传感器测距的影响,建立了同时考虑发散角及入射角的超声波传感器测距函数关系表达式;提出了超声波传感器发散角的标定方法,并通过实验对发散角进行了标定;通过对比实验可以看出,所提出的关系表达式提高了超声波传感器距离测量精度。在此基础上提出了利用自动导航车(AGV)单个侧面两个超声波传感器实现移动机器人在作业站点侧向、前向及姿态3个方向的位姿定位方法,最后将该方法用于自主研发的移动机器人的定位试验,验证了该方法的正确性和有效性。
英文摘要:
      To improve the positional accuracy of the mobile robot at the worksite, the effect of ultrasonic sensor beam angle is analyzed on the basis of considering the incidence angle, and the functional relationship expression of ultrasonic distance measurement is established on regarding the ultrasonic sensor beam angle and the incident angle at the same time. Calibration method of the ultrasonic beam angle is proposed, and the ultrasonic sensor beam angle is obtained through the calibration experiment. It is clearly that the established functional relationship expression of ultrasonic sensor measurement improves the distance measurement precision evidently in the experiment. Based on the proposed expression, three positioning (lateral positioning, front positioning and orientation positioning) methods of the mobile robot are adopted by using two ultrasonic sensor installed on these any single side of robot at the worksite. Finally the method is used in the positioning experiment on the independently developed mobile robot, and the correctness and effectiveness of the proposed method are verified.
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