机器人视觉导航传感器光栅投射误差校正系统

Grating projection error correction system for robot vision navigation sensor

当前传感器光栅投射误差校正系统,没有计算光栅投射条纹的倾斜角度,导致系统应用效率低、稳定性差、精准度低,严重影响了机器人的使用效果。因此,提出机器人视觉导航传感器光栅投射误差校正系统。首先采用光栅读数头、细分盒完成系统的硬件组成,提高系统的应用效率;软件部分采用了高频数字计数滤波的方法,滤除掉频率高于该临界点的干扰脉冲;最后通过基于投影序列融合的光栅投射误差校正算法,分析光栅投射条纹的倾斜角度实现误差校正,提高系统的精准度。实验对比结果表明,机器人视觉导航传感器光栅投射误差校正系统的应用效率最高为96%、稳定性最高为98%、精准度最高为97%,所设计系统具有较高性能。

The current sensor grating projection error correction system does not calculate inclination angle of grating projection fringe,which leads to low efficiency,poor stability and low accuracy of the system,and seriously affects robot use effect. Therefore,a grating projection error correction system for robot vision navigation sensor is proposed.Firstly,grating reading head and subdivision box are used to complete hardware composition of the system to improve its application efficiency. In the software part,high-frequency digital counting filtering method is used to filter out interference pulse whose frequency is higher than critical point. Finally,the grating projection error correction algorithm based on projection sequence fusion is used to analyze inclination angle of grating projection fringe to realize error correction and improve system efficiency. The experimental results show that the application efficiency of grating projection error correction system is 96%,the stability is 98%,the accuracy is 97%,and the designed system has high performance.