基于超声测距的工业机器人避障控制系统设计  

Design of Industrial Robot Obstacle Avoidance Control System Based on Ultrasonic Ranging

作　　者：李强[1] LI Qiang(Quality Inspection Center,Xi'an Aeronautical Polytechnic Institute,Xi'an 710089,China)

机构地区：[1]西安航空职业技术学院质量管理中心,西安710089

出　　处：《计算机测量与控制》2023年第2期109-114,共6页Computer Measurement &Control

摘　　要：工业机器人对于自身与障碍物之间的距离测量不准确,无法根据二者距离判断行驶路径,导致避障效果较差;为此基于超声测距技术设计了一种新的工业机器人避障控制系统,从硬件和软件两方面对避障效果进行优化设计;将具有脉冲信号的超声换能器安装在单片机的操作模块中,增加MOS功率器件作为超声换能器的驱动元件,应用EA1、EA2和EA3三种型号的误差放大器,将回波信号稳定放大到电路中,利用运算放大器和RC网络电路实现滤波放大,利用信号检测电路实现检测;利用超声波传感器精准测量出自己与障碍物之间的距离,通过建立模糊数据库、定位漫反射信息、提取不同方向的测距信息实现工业机器人避障控制;实验结果表明,设计的基于超声测距的工业机器人避障控制系统能够准确测量出与障碍物之间的距离,避障控制准确率平均值达97.4%,能够实现工业机器人避障防碰撞操作。Because the distance between the robot and obstacle is not accurately measured,the route cannot be judged by the distance between the robot and obstacle,and leads to the poor effect of the obstacle avoidance.A new obstacle avoidance control system of industrial robot based on ultrasonic ranging technology is designed,which optimizes the obstacle avoidance effect from hardware and software.The ultrasonic transducer with pulse signal is installed in the operation module of single-chip microcomputer,a MOS power device is added as the driving element of ultrasonic transducer,and three types of error amplifiers of EA1,EA2 and EA3 are used to stably amplify the echo signal in the circuit,the operational amplifier and RC network circuit are used to realize filtering and amplification,and the signal detection circuit is used to realize the detection.The ultrasonic sensor is used to accurately measure the distance to the obstacle,and the obstacle avoidance control of the industrial robot is realized by establishing a fuzzy database,locating the diffuse reflection information,and extracting the ranging information in different directions.The experimental results show that the distance between the robot and obstacle can be accurately measured,and the average control accuracy is 97.4%,which can realize the obstacle avoidance and collision of the robot.

关 键 词：超声波传感器 控制系统 工业机器人 避障控制 传感器测距 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]