基于小波变换的机器人超声波测距误差补偿研究  

Study of Error Compensation in Robot Ultrasonic Ranging Based on Wavelet Transformation

作　　者：罗伟[1] 陈峰[1] 

机构地区：[1]辽宁工程技术大学,辽宁葫芦岛125105

出　　处：《煤矿机械》2007年第2期51-54,共4页Coal Mine Machinery

摘　　要：论述了超声波在井下钻孔机器人避障系统中的局限性,讨论了超声波声速随复杂环境的变化给避障系统所带来的误差,提出了基于小波变换的广义自相关渡越时间估计方法。采用小波变换对输入信号进行了白化滤波,实现了在复杂的强干扰环境下实时测量超声传播速度的目的,提高了超声测距的精度。实测结果表明:在5 m测距范围内测距相对误差被控制在1%以内。Discussod the limitation of ultrasonic in the pit - drilling robot obstacle avoidance system, and discussed the solving- programmer..Put forwarded the generalized autocorrelation transition time estimating method based on wavelet transformation. This method carried albinism filtration on input signal through applying wavelet transformation. This method measures the ultrasonic speed on time, thereby improves the accuracy of ultrasonic ranging. The experiment makes clear, the method can control the relative error on 1% even little when the ranging scale inside 5 m.

关 键 词：钻孔机器人 超声波测距 小波变换 广义自相关处理 

分 类 号：TD421.1[矿业工程—矿山机电] TP24[自动化与计算机技术—检测技术与自动化装置]