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Application of fiber-optic sensor in robot navigation
Good afternoon,everyone。My name is Yuan yang。It is a great honor for me to be allowed to speak about Profeional English report.In the report before ,first of all to thank the teacher give me this opportunity and my group of personnel to trust me ,today I will give you a report is Application of fiber-optic sensor in robot navigation.First of all let us together to see the outline.It includes Introduction,Optical fiber sensor principle,Navigation principle,The experiment and analysis,Conclusion。
Now I give everyone to introduce optical fiber sensor。Its characteristics includedhigh sensitivity, dynamic range, small volume,light weight, suitable small space environment.Next I introduce Optical fiber sensor principle。It is use optical fiber transmiion light signal function。According to the detection of reflected light to measure objects reflecting surface of the distance。Shown in figure one,the whole system including light emitter(LD)as the light source, optical fiber sensing head and as photoelectric conversion element of light receptors(PD), optical fiber sensing head is composed of input optical fiber and optical fiber output;LD light the input optical fiber to the mirror, the output optical receiver, finally, the photoelectric conversion element will be the light of the received signal into electrical signals.The distance from the object to be tested optical fiber probe, determines the strength of the output light intensity, therefore, through the detection of output light intensity can be obtained the displacement of the target.Next,I will introduce the principle of navigation。Optical fiber sensor use BF3RX as navigation sensor, the use of sensor has different sensitivity with black and white to detect robots whether migration guide。
Shown in figure three,with black soft magnetic belt do bottom,white tape as a surface,one、two、three、four and five are sensor。Sensor 1, 2, used to detect the position of the mobile robot deviation,3, 4 sensor for detecting bearing deviation,Fifth optical fiber sensor detection road signs, which is mainly used to reduce Robot along the x direction in the proce of the accumulated error,avoid long distance accumulationerror big faults。
The application of robot in the work
The experimental results and analysis。Using optical fiber sensor for navigation, scanning device speed for 4 mill/S, the movement distance of 1000 mm, adjust the time of the l10 S, accumulated error is 28 mm, exceive accumulation error is mainly caused by adjusting the location error in the proce of accumulation.Scanning the trajectory of robot as shown in figure 5, including x for scanning device along the horizontal displacement, Y for deviation from the vertical scanning device, can see: optical fiber sensors can ensure the robot navigation, moving along the baseline serial error le than 1 mm, deviation adjusting speed, has the very good performance.Conclusion ,based on BF3RX optical fiber sensor to test the sensitivity of the color difference, using the sensor in scanning robot navigation and positioning, satisfy the scanning serial robot ultrasonic scanning of positioning accuracy, using the simple method for complex system of accurate positioning, cost little, adjustment is convenient, has certain practical significance.Finally ,thank you to listen to my report.If you have any different opinions can after cla and I study.
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