基于PSD的触须传感器及在移动机器人中的应用  

Antenna sensor based on PSD and application mobile robot

作　　者：任冠佼[1] 陈伟海[1] 陈斌[1] 王建华[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《北京航空航天大学学报》2010年第5期601-605,共5页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家863计划资助项目(2008AA04Z210);国家自然科学基金资助项目(60775059);北京市自然科学基金资助项目(3093021)

摘　　要：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.In the environment with limited light,robot＇s obstacle avoidance could not be realized if the vision sensor was used only.In order to deal with the problem,an antenna sensor system was designed.Position sensitive detector（PSD） was used as the sensing instrument and a laser pointer was attached to the antenna end,from which the laser was shot out to the other side.Following this approach,a new antenna mechanical structure was proposed to make the installation simple and to reduce the assembly error.Two new methods were proposed to detect the angle between the body and the wall.Advantages and disadvantages of the two methods were discussed.The robot could walk along the wall by the two methods and the effectiveness was experimentally demonstrated.What caused the error was analyzed at last.

关 键 词：移动机器人 接近觉传感器 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]