移动服务机器人位置准确度的测量不确定度研究

Research on Measurement Uncertainty of Position Accuracy for Mobile Service Robot

为了分析移动服务机器人位置准确度测量结果不确定度的影响因素,依据GB/T 40327—2021《轮式移动机器人导引运动性能测试方法》,利用激光跟踪仪对移动服务机器人位置准确度进行测量,研究了其位置准确度数学模型,分析了测试过程中引入的不确定因子。通过实例计算,评定出服务机器人的扩展不确定为Uc=19.364 mm(k=2),结论为其自身的精度对测量结果影响较大,同时环境因素、设备本身的精度和测量方法等也是位置精度测量不确定度的来源。结果表明该方法分析结果可靠,评定结果可作为人员操作比对、不同测量仪器的测量精度比较等对测量结果影响的研究依据。

In order to analyze the influencing factors of the uncertainty of the measurement results of the position accuracy of the mobile service robot,according to GB/T 40327-2021"Testing Method for Guided Motion Performance of Wheeled Mobile Robots",the position accuracy of the mobile service robot is measured by the laser tracker,the mathematical model of its position accuracy is studied,and the uncertainty factors introduced in the testing process are analyzed.It is estimated that the expansion uncertainty of the robot is Uc=19.364 mm(k=2),and the conclusion is that its own accuracy has a great influence on the measurement results,and the environmental factors,the accuracy of the equipment itself and the measurement method are also the sources of uncertainty in the measurement of position accuracy.The results show that the analytical results of this method are reliable.The evaluation results can serve as a research basis for comparing personnel operations and comparing the measurement accuracy of different measuring instruments on the impact of measurement results.