摘要
目前除冰任务都局限在一些危险区域,路况复杂,机器人采集信息零乱,容易产生干扰;针对这一问题,设计引入无迹粒子滤波器信息融合思想到除冰机器人的设计中,研究现有的除冰机器人的缺陷,优化设计了一种除冰机器人的本体结构,优化了各种非接触式传感器的布局结构,为避障提供充足的数据来源;设计了无迹滤波的信息融合技术,解决了在外部复杂环境中某传感器信息存在的信息干扰;以上海某智能信息公司的除冰机器人进行实际的测试,实验包括除冰机器人、YJV22-3*300电缆,其弯曲直径为2.5 m、使用石膏模拟的覆冰、秒表等,对实验中传感器采集的数据经过数据预处理后使用Matlab 7.0对其进行准确率仿真,仿真结果表明,这种除冰机器人的避障准确率高达96.3%,在传感器损坏后,模型恢复的延时不超过3 s,结构优化明显。
The deicing task is limited in some dangerous areas, road conditions is complex, robot disorderly gathering information, prone to interference, in order to solve this problem, design introduction no trace particle filter information fusion method to the design of deicing robot, research of the existing defects of deicing robot, the optimization design the structure of a kind of deicing robot body, a variety of non contact sensor layout structure was optimized, provide sufficient data for obstacle avoidance source; Information fusion technology of trace filter has been solved in the complex external environment a sensor information of interference. A intelligent information company in Shanghai of deicing robot to the actual test, the experiment including the deicing robot, YJV22--3 ~ 300 cable, its bending diameter of 2.5 meters, use gypsum simulated ice, stopwatch, etc. , the experiment data from the sensor after data preprocessing using Matlab 7. 0 on the accuracy of the simulation, the simulation results show that this kind of deicing robot obstacle avoidance accuracy as high as 96.3 %, after the failure of the sensor, model of recovery delay no more than 3 seconds, structure optimization is obvious.
出处
《计算机测量与控制》
北大核心
2014年第2期560-562,577,共4页
Computer Measurement &Control
基金
2010国家自然科学基金项目(51074097)
2012广西重大科技攻关项目(桂科攻12118017-6)
2011广西教育厅科研项目(201102ZD034)
2013广西教育厅科研项目(2013YB224)
2013梧州学院院级重点科研项目(2013B023)
关键词
除冰机器人
信息融合
无迹粒子滤波
deicing robot
information fusion
no trace of particle filter
