CAJ | 학술논문

针对当前自行走式地下掘进机器人姿态测量方法只能应用于静态测量的不足，提出一种可实时动态测量机器人行进过程中姿态的新方法。该系统的核心是两个激光发射器和多个激光接收器。发射器发射三束带有一定特征信息的激光，包括一束选通光和两束扇形光。接收器接收到光束后，利用光束之间的几何关系、发射器的旋转速度和光束被接收的时间差来计算接收器相对于两发射器所在水平面的水平角和俯仰角，通过前方交会原理确定接收器即目标点的空间坐标。根据系统的测量原理建立测量模型，进行误差分析，建立误差模型，并对其进行仿真，与惯性导航测量误差进行比较。仿真结果表明该方法测量精度满足机器人位姿的测量要求。
침대당전자행주식지하굴진궤기인자태측량방법지능응용우정태측량적불족，제출일충가실시동태측량궤기인행진과정중자태적신방법。해계통적핵심시량개격광발사기화다개격광접수기。발사기발사삼속대유일정특정신식적격광，포괄일속선통광화량속선형광。접수기접수도광속후，이용광속지간적궤하관계、발사기적선전속도화광속피접수적시간차래계산접수기상대우량발사기소재수평면적수평각화부앙각，통과전방교회원리학정접수기즉목표점적공간좌표。근거계통적측량원리건립측량모형，진행오차분석，건립오차모형，병대기진행방진，여관성도항측량오차진행비교。방진결과표명해방법측량정도만족궤기인위자적측량요구。
While traditional methods only apply for static robots,this paper comes up with a new method to compute the position of the underground tunneling robots in motion. The two key parts of this new method are two laser beams generator and several receivers. The laser beam generator generates three laser beams which contain a gated and two fan-shaped beams. The receiver computes the relative horizontal angle and the pitch angle to the plane where the two generators locate according to the relations among the beams,the spin speed of the generator and the time difference between receptions, then computes the coordinates of the receiver through forward intersection principle. Measurement models and simulations have been developed and after comparing with the results from different methods,the precision satisfies the need for computing the position of the tunneling robots very well.