非结构环境下超声波传感器探测原理及其误差分析

Detection Principle and Error Analysis of Robot with Ultrasonic Sensor in Unstructured Environment

针对机器人非结构工作环境,提出了一种基于超声波传感器的探测方法.建立了探测系统的结构模型,阐述了系统的工作原理,研究了测量误差产生的原因.超声波传感器在测量过程中是运动的,存在由运动引起的动态测量误差.此外,测量误差还包括环境温度引起的超声波传输误差和超声波传感器开角引起的误差,它们的综合作用构成了探测系统的综合误差.研究了综合误差与系统的运动参数和结构参数之间的关系,给出了补偿综合误差的方法,为提高系统的探测精度提供了理论依据.仿真结果验证了基于超声波传感器的非结构环境探测误差补偿的必要性.

A detecting method is presented for the robot with ultrasonic sensor in unstructured working environment. Setting up a structure model of the detecting system and describing its operation principle, the causes of detecting errors are analyzed. There are dynamic errors of the ultrasonic sensor due to its moving in the whole detecting process, as well as other errors caused by its ambient temperature and patulous angle. An integrated error of the detecting system is thus formed in unstructured environment. Analyzing the relationship among the integrated error and robot＇s moving parameters and structure parameters, the way to compensate the integrated error is presented, which provides a theoretical basis to improve the detecting precision of the system. Simulation results verified the necessity of such an error compensation.