激光测距在机械手臂防碰撞自动控制中的应用
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摘要
机械手臂作业的安全性与可靠性对机械制造厂商来说极其重要,为了解决这个问题,研究激光测距在机械手臂防碰撞自动控制中的应用,开发出基于脉冲式激光测距的机械手臂防碰撞自动控制系统。系统采用脉冲式激光测距方法,利用脉冲信号使脉冲激光器瞬间发出巨大功率的激光光束,同时初始化参考时钟进行激光运行时间计数。当光束从机械手臂表面反射回系统电路,参考时钟给出计数时间,通过简单运算获取机械手臂与障碍物之间的距离,将这个距离与临界防碰撞距离进行对比,得到碰撞判定结果并实施自动控制。系统利用收发信号之间脉冲状态不同步的性质排除计数误差,并给出系统开发代码。实验结果表明,所开发的系统探测度高且测距噪声小。
The safety and reliability of mechanical arms are significant for manufacturers. In order to solve this problem,researching the application of the laser ranging in automatic control of mechanical arm anti-collision to develop a new system based on pulse laser ranging. The laser emits a huge power beam instantly and the reference clock starts counting the operation time simultaneously. When the beam reflected back to system circuit from the surface of mechanical arm,the time is given. So the distance was obtained. And compared with critical anti-collision distance to get the collision decision and implement automatic control. The counting errors are eliminated by the non-synchronization between pulse sending and receiving signals. Experimental results show that this designed system has high accuracy and low noise.
The safety and reliability of mechanical arms are significant for manufacturers. In order to solve this problem,researching the application of the laser ranging in automatic control of mechanical arm anti-collision to develop a new system based on pulse laser ranging. The laser emits a huge power beam instantly and the reference clock starts counting the operation time simultaneously. When the beam reflected back to system circuit from the surface of mechanical arm,the time is given. So the distance was obtained. And compared with critical anti-collision distance to get the collision decision and implement automatic control. The counting errors are eliminated by the non-synchronization between pulse sending and receiving signals. Experimental results show that this designed system has high accuracy and low noise.
引文
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[2]马友娟,刘会霞,周建忠,等.激光动态柔性微弯曲中尺寸效应的实验研究[J].中国激光,2015,42(5):116-123.
[3]徐艳,陈飞,谢冀江,等.缓冲气体对碱金属蒸汽激光器工作特性的影响[J].红外与激光工程,2015,44(2):455-460.
[4]张合勇.激光阵列定向能在行星防御中的进展与思考[J].激光与光电子学进展,2015,52(6):61-68.
[5]步超,聂伟荣,罗乔,等.齿形结构的长脉冲敏感型微加速度开关[J].光学精密工程,2016,24(11):2730-2737.
[6]穆嘉星,曹杰,郝群,等.基于差分光路的脉冲激光测距实验研究[J].激光与红外,2016,46(8):934-937.
[7]和丽娟,薛莉,翟东升,等.基于MPPC阵列探测器的激光测距系统与试验[J].光电子·激光,2016,27(2):132-138.
[8]Ibrahim M,Hanna Y S,Samwel S W,et al.Satellite Laser Ranging in Egypt[J].Nriag Journal of Astronomy&Geophysics,2015,4(1):123-129.
[9]柳鸣,张国玉,安志勇,等.大量程脉冲激光测距仪性能检测方法[J].红外与激光工程,2015,44(9):2679-2683.
[10]Yu J,Chen X,Hu C,et al.Restorationof robot automatic welding locus based on laser ranging for welding of Hshaped steel corrugated web[J].Hanjie Xuebao/transactions of the China Welding Institution,2015,36(7):101-104.
[11]熊剑,周先赞,陆泽橼,等.基于CDMA-TDMA结合的室内超声波定位方法[J].压电与声光,2016,38(1):125-129.
[12]Goszczyńska B,S'wit G,Trmpczyński W.Application of the IADP acoustic emission method to automatic control of traffic on reinforced concrete bridges to ensure their safe operation[J].Archives of Civil&Mechanical Engineering,2016,16(4):867-875.
[13]彭正枫,杨晶,王元庆.基于TDC算法的激光内光路精细矫正[J].光电子技术,2015,35(2):106-110.
[14]Luo Y,Li H,Yeh H C.Note:Digital laser frequency autolocking for inter-satellite laser ranging[J].Review of Scientific Instruments,2016,87(5):056105.
[15]黄晓刚,黄品剑,汤剑,等.基于机械臂控制系统的数据采集模块研究[J].电子设计工程,2016,24(17):145-146.
[16]贾树芳,梁九卿.光学机械腔中玻色-爱因斯坦凝聚的基态特性[J].量子光学学报,2015,21(3):241-245.
[17]Otsubo T,Matsuo K,Aoyama Y,et al.Effective expansion of satellite laser ranging network to improve global geodetic parameters[J].Earth,Planets and Space,2016,68(1):1-7.
[18]蒋金豹,尤笛,汪国平,等.苹果轻微机械损伤高光谱图像无损检测[J].光谱学与光谱分析,2016,36(7):2224-2228.
[19]Mahaffy P R,Benna M,King T,et al.The Neutral Gas and Ion Mass Spectrometer on the Mars Atmosphere and Volatile Evolution Mission[J].Space Science Reviews,2015,195(1):49-73.