摘要
设计液下搅拌机器人的定位系统,选用多传感器来获取定位信息。用单片机(下位机)测得各个传感器信息,通过RS—485总线把信息传给工控机(上位机),工控机对信息进行融合,实时(本系统可达1 s)获得机器人的位置及航向信息。实验验证定位系统可行性,并对测距误差进行了分析,修正后定位误差在10 cm以内,满足对机器人的定位要求。
An orientation system for stirring robots working under water is designed. Multi-sensors are selected to get the orientation information. The information is captured by the MCU,carried through RS-485 bus to industrial PC and merged by it, then the position and heading information that can be updated in one second is promptly displayed. A laboratory is done to validate the feasibility of the orientation system and then the distance errors up to under 10 cm that can satisfy the demand are corrected.
出处
《传感器与微系统》
CSCD
北大核心
2007年第8期96-98,共3页
Transducer and Microsystem Technologies
基金
北京市教委科技计划资助项目(KM200311232138)
