自行走地下掘进机器人导向系统的测量方法  

Measurement Method of Navigation System of Self-propelled Underground Tunneling Robots

作　　者：陈双叶[1] 牛经龙[1] 温世波 陈永锋[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124

出　　处：《北京工业大学学报》2014年第7期1091-1098,共8页Journal of Beijing University of Technology

基　　金：国家自然科学基金资助项目(51278011)

摘　　要：针对目前自行走掘进机器人姿态测量设备只能依靠人工操作,无法连续、实时动态测量的缺点,基于三点法姿态测量,提出了一种多目标点的自动测量方法.该方法采用激光发射模块与接收模块,利用前方交会原理,通过测量多点坐标完成机器人的姿态测量;介绍了测量装置的总体架构和硬件设计方案,并对测量误差进行了分析;同时采用卡尔曼滤波算法对测量坐标进行预测补偿,提高了测量精度.仿真结果表明:这种测量装置可以提高系统的实时性,且数据处理方法对系统噪声和量测噪声有抑制作用.According to defects of self-propelled robot＇s measurement device, such as relying manual operation only, unreal-time and uncontinuous measurement, a new device for posture measurement of tunneling robots was designed based on three-point method. The device mainly used laser transmitters and receivers. Through the forward intersection principle it can get the coordinate of the receiver, then compute the tunneling robot posture. The architecture of the device, hardware design and analysis of measurement errors were introduced. To reduce errors, Kalman filtering method was proposed to predict the coordinate of the receivers. Simulation results show that the new device improves the real-time performance of the system and the data processing can reduce random noise and measurement noise of the system.

关 键 词：自行走式掘进机器人 姿态测量 卡尔曼滤波 

分 类 号：TH74[机械工程—光学工程] TH86[机械工程—仪器科学与技术]