自行走式地下掘进机器人姿态测量系统的设计

摘要

While traditional methods only apply for static robots,this paper comes up with a new method to compute the position of the underground tunneling robots in motion. The two key parts of this new method are two laser beams generator and several receivers. The laser beam generator generates three laser beams which contain a gated and two fan-shaped beams. The receiver computes the relative horizontal angle and the pitch angle to the plane where the two generators locate according to the relations among the beams,the spin speed of the generator and the time difference between receptions, then computes the coordinates of the receiver through forward intersection principle. Measurement models and simulations have been developed and after comparing with the results from different methods,the precision satisfies the need for computing the position of the tunneling robots very well.%针对当前自行走式地下掘进机器人姿态测量方法只能应用于静态测量的不足，提出一种可实时动态测量机器人行进过程中姿态的新方法。该系统的核心是两个激光发射器和多个激光接收器。发射器发射三束带有一定特征信息的激光，包括一束选通光和两束扇形光。接收器接收到光束后，利用光束之间的几何关系、发射器的旋转速度和光束被接收的时间差来计算接收器相对于两发射器所在水平面的水平角和俯仰角，通过前方交会原理确定接收器即目标点的空间坐标。根据系统的测量原理建立测量模型，进行误差分析，建立误差模型，并对其进行仿真，与惯性导航测量误差进行比较。仿真结果表明该方法测量精度满足机器人位姿的测量要求。