移动机器人的超声波传感器发散角标定及应用

Calibration and application of ultrasonic sensor beam angle for mobile robots

为了提高移动机器人在作业站点的定位精度,在考虑入射角的基础上,分析了发散角对超声波传感器测距的影响,建立了同时考虑发散角及入射角的超声波传感器测距函数关系表达式;提出了超声波传感器发散角的标定方法,并通过实验对发散角进行了标定;通过对比实验可以看出,所提出的关系表达式提高了超声波传感器距离测量精度。在此基础上提出了利用自动导航车(AGV)单个侧面两个超声波传感器实现移动机器人在作业站点侧向、前向及姿态3个方向的位姿定位方法,最后将该方法用于自主研发的移动机器人的定位试验,验证了该方法的正确性和有效性。

To improve the positional accuracy of the mobile robot at the worksite,the effect of ultrasonic sensor beam angle is analyzed on the basis of considering the incidence angle,and the functional relationship expression of ultrasonic distance measurement is established on regarding the ultrasonic sensor beam angle and the incident angle at the same time. Calibration method of the ultrasonic beam angle is proposed,and the ultrasonic sensor beam angle is obtained through the calibration experiment. It is clearly that the established functional relationship expression of ultrasonic sensor measurement improves the distance measurement precision evidently in the experiment. Based on the proposed expression,three positioning（ lateral positioning,front positioning and orientation positioning） methods of the mobile robot are adopted by using two ultrasonic sensor installed on these any single side of robot at the worksite. Finally the method is used in the positioning experiment on the independently-developed mobile robot,and the correctness and effectiveness of the proposed method are verified.