一种液下机器人超声波定位系统  

System of ultrasonic location for robot working under water

作　　者：崔莹[1] 郝静如[1] 黄民[1] 

机构地区：[1]北京机械工业学院机械工程系,北京100085

出　　处：《传感器与微系统》2006年第7期58-60,共3页Transducer and Microsystem Technologies

基　　金：北京市教委科技发展计划资助项目(KM200311232138)

摘　　要：在工况恶劣的水煤浆中,使用超声波网络实现机器人定位是一种行之有效的方法。根据液下机器人对定位精度及可靠性的要求,设计了上位机为工控机、下位机为单片机的主从式串口通信定位计算系统。单片机主要负责超声波测距,工控机主要负责定位计算。定位计算采用三点定位原理。经过模拟实验证明:本系统定位精度能够满足要求,可靠性较高。Used ultrasonic network to realize the location of the robot working under water coal slurry is an available means. A serial communication system is designed in base of the precision of location and the system reliability. The upper machine is industrial control computer and the under machine is single chip micyoco （SCM）. The industrial control computer is mostly to calculate the position of the robot,and the SCM is mostly to measure the distance. The three points location theory is used to calculate the position of the robot. The result of experimentation shows that this system works steadily, and the calculation method for location is available.

关 键 词：机器人 超声波 串口通信 三点定位 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]