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针对视觉传感器无法解决的移动机器人的全天候避障问题,设计了一种触觉传感系统.利用位置敏感探测器(PSD,Position Sensitive Detector)作为触须根部的检测元件,设计了一种机械结构,利用一个直接连接在触须根部并侧向出射激光的激光器,解决了触须安装困难以及安装误差对测量精度影响较大的问题;提出了两种全新的检测机器人本体与墙体之间夹角的方法,可实现机器人近墙行走,对两种方法的优劣进行了比较,最后通过实验证明了此两种方法的可行性,并对测量产生的误差进行了分析.
Aiming at the all-weather obstacle avoidance problem of mobile robots which can not be solved by visual sensors, a tactile sensing system is designed. By using Position Sensitive Detector (PSD) as the detecting element of the root of the tentacles, a mechanical structure is designed. A laser that is directly connected to the root of the tentacles and emits laser light laterally solves the problem that the installation of the tentacles is difficult and the installation errors greatly affect the measurement accuracy. Two new methods for detecting the angle between the robot body and the wall are proposed, The robot can walk near the wall, the advantages and disadvantages of the two methods are compared, and finally the feasibility of these two methods is proved through experiments, and the error of the measurement is analyzed.