基于声发射的扫地机器人外壳碰撞点定位研究  

Positioning of Robot Shell Based on Acoustic Emission

作　　者：陈子慧 李志农[1] 黄宇星 龙盛蓉[1] CHEN Zi-hui;LI Zhi-nong;HUANG Yu-xing;LONG Sheng-rong(Key Laboratory of Nondestructive Testing of the Ministry of Education,Nanchang Hangkong University,Nanchang 330063,China)

机构地区：[1]无损检测技术教育部重点实验室(南昌航空大学),南昌330063

出　　处：《失效分析与预防》2023年第1期43-48,共6页Failure Analysis and Prevention

基　　金：国家自然科学基金(52075236);江西省自然科学基金重点项目(20212ACB202005);南昌航空大学研究生专项基金(YC2022-095)。

摘　　要：扫地机器人领域的核心问题是定位问题,对扫地机器人行进过程中的碰撞位置进行有效定位是提高清扫效率的关键。声发射作为一种新型的无损检测技术,它的信号特性让其能在各种材料环境下进行定位实验。基于声发射技术的时差定位系统对于碰撞信号这种突发型信号有较好的捕捉定位能力,采用声发射时差法研究扫地机器人外壳在发生碰撞时的对应位置并进行定位误差分析。结果表明,声发射时差定位法能简单且快速地对碰撞点进行有效定位,利用声发射时差定位计算出的坐标与实际碰撞点坐标的误差最大值为8.45 mm,最小值为0.7 mm。研究结果可为实验研究和工程中声发射事件的精确定位提供重要参考。The core problem in the field of sweeping robots rests is its positioning.The effective positioning of the collision position during the sweeping process is pivotal to improving the cleaning efficiency of aweeping robot.As a new type of non-destructive testing technology,the signal characteristics render acoustic emission feasible in various material environments for positioning experiments.The time difference positioning system based on acoustic emission technology has good capture and positioning abilities for burst signals like the collision signals.Moreover,the acoustic emission time difference method was used to study the corresponding collision position on the sweeping robot shell and assess the error.The results show that the acoustic emission time difference positioning method can effectively locate the collision point simply and quickly.The maximum error between the coordinates calculated by this method and the actual collision point coordinates is 8.45 mm,and the minimum value is 0.7 mm.The research results can provide an important reference for the precise location of acoustic emission events in experimental research and engineering.

关 键 词：声发射定位 扫地机器人 定位误差 

分 类 号：TH165.3[机械工程—机械制造及自动化] TN911[电子电信—通信与信息系统]