MEMS加速度传感器在微型特种机器人中的应用

摘要

提出一种基于MEMS加速度传感器LISLV02DL的特种机器人姿态测控和环境感知方案.阐述了系统硬件组成,分析了传感器姿态测控方法和环境感知原理.为提高加速度传感器工作精度,设计了一种加速度传感器校正方法.试验结果表明:该加速度传感器能较好地感知机器人运动的姿态与方向,并实现机器人着陆姿态调整和外部环境振动信息的监测.%The application of environmental perception and micro-robot attitude measurement and control is developed based on a 3-axis MEMS accelerometer with digital output LIS3LV02DL. The design of hardware system is introduced. The principle of environmental perception and micro-robot attitude measurement and control by accelerometer is analyzed. In order to improve the measuring precision of accelerometer, a calibrating method of accelerometers is presented. The results show that the accelerometer can percept the attitude and direction of the robot motion, adjust the robot landing attitude and monitor the vibration information of environment well.