快速50 Hz更新的静态红外定位系统基于三角测量方法
Maciej Ciężkowski1, Rafał Kociszewski1
1Automatic Control and Robotics Department, Faculty of Electrical Engineering, Bialystok University of Technology, Wiejska St. 45D, 15-351 Bialystok, Poland.
Sensors (Basel, Switzerland)
|March 13, 2024
概括
本研究介绍了协作移动机器人的高速静态室内导航系统. 红外三角系统达到50Hz的定位精度,在工业4.0环境中增强机器人定位.
科学领域:
- 机器人和自动化 机器人和自动化
- 室内导航系统 室内导航系统
- 工业4.0技术 工业4.0技术 工业4.0技术 工业4.0技术 工业4.0技术 工业4.0技术
背景情况:
- 精确的室内导航对于工业4.0中的协作移动机器人至关重要.
- 全球导航卫星系统 (GNSS) 在室内无效.
- 现有的系统通常依赖于三边化或三角化,典型的更新速率为10-20 Hz.
研究的目的:
- 为移动机器人开发一个高速的静态室内定位系统.
- 在速度和稳定性方面改善现有导航系统的局限性.
主要方法:
- 使用红外发射器和接收器的三角测量方法.
- 开发了一个完全静态的系统,消除了移动或旋转的测量传感器.
- 实现了50 Hz的高位置更新频率.
主要成果:
- 证明了 Δφ = 0.51° 的信标准确度.
- 实现了 ΔR = 6.55 厘米的定位精度.
- 该系统以50Hz的高更新频率运行,比传统系统快得多.
结论:
- 拟议的静态,高速红外三角系统为移动机器人提供了精确而强大的室内定位.
- 该系统的高更新率和静态性质使其适合要求高的工业4.0应用.
- 这一进步有助于在室内环境中实现更可靠,更高效的自主机器人操作.
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