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群机器人工作时很容易出现碰撞现象,导致机器人损坏,影响机器人的使用寿命。传统群机器人防碰撞技术容易受到外界环境的干扰,无法有效防止群机器人发生碰撞。为此,提出一种基于激光测距传感器的群机器人防碰撞技术,设计了一种群机器人防碰撞系统。将激光信号撞到的目标机器人作为二次激光发射源,通过目标机器人的漫反射特性计算出沿原机器人激光测距器光轴方向的激光辐射亮度,根据接收到的目标机器人反射激光信号的消减程度,求出反射激光信号的功率,从而计算出激光测距传感器最终测距方程。给出激光测距传感器硬件结构,介绍了立体视觉测距模块。建立群机器人防碰撞数学模型,将计算得到的安全距离与最大安全距离相比,依据比较结果判断机器人是否需改变速度与方向,以防止出现碰撞现象。实验结果表明,所提技术实用性强。
Group of robots are prone to collision when working, leading to robot damage, affecting the life of the robot. The traditional group robot collision avoidance technology is easily disturbed by the external environment and can not effectively prevent the group robot from colliding with each other. Therefore, this paper proposes a group robot anti-collision technology based on laser ranging sensor, and designs a group robot collision avoidance system. The target robot hit by the laser signal is used as the secondary laser emission source, the laser radiation brightness along the optical axis of the original robot laser rangefinder is calculated by the diffuse reflection characteristic of the target robot, and according to the subtraction of the received target robot reflection laser signal Degree, calculate the power of the reflected laser signal to calculate the final distance measuring laser ranging sensor equation. Given the hardware structure of the laser ranging sensor, introduced the stereo vision ranging module. The robot collision avoidance mathematical model is established, comparing the calculated safety distance with the maximum safety distance, judging whether the robot needs to change the speed and direction according to the comparison result to prevent the collision phenomenon. Experimental results show that the proposed technology is practical.