激光测距在机械手臂防碰撞自动控制中的应用

The application of laser ranging in the automatic control of mechanical arm

机械手臂作业的安全性与可靠性对机械制造厂商来说极其重要,为了解决这个问题,研究激光测距在机械手臂防碰撞自动控制中的应用,开发出基于脉冲式激光测距的机械手臂防碰撞自动控制系统。系统采用脉冲式激光测距方法,利用脉冲信号使脉冲激光器瞬间发出巨大功率的激光光束,同时初始化参考时钟进行激光运行时间计数。当光束从机械手臂表面反射回系统电路,参考时钟给出计数时间,通过简单运算获取机械手臂与障碍物之间的距离,将这个距离与临界防碰撞距离进行对比,得到碰撞判定结果并实施自动控制。系统利用收发信号之间脉冲状态不同步的性质排除计数误差,并给出系统开发代码。实验结果表明,所开发的系统探测度高且测距噪声小。

The safety and reliability of mechanical arms are significant for manufacturers. In order to solve this problem, researching the application of the laser ranging in automatic control of mechanical arm anti-collision to develop a new system based on pulse laser ranging. The laser emits a huge power beam instantly and the reference clock starts counting the operation time simultaneously. When the beam reflected back to system circuit from the surface of mechanical arm, the time is given. So the distance was obtained. And compared with critical anti-collision distance to get the collision decision and implement automatic control. The counting errors are eliminated by the non-synchronization between pulse sending and receiving signals. Experimental results show that this designed system has high accuracy and low noise.