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Study on Proximity Sensor for Robots and its Application

机器人接近传感器研究及其应用

基本信息

批准号：
01550198
负责人：
SASAKI Ken
金额：
$ 1.15万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1989
资助国家：
日本
起止时间：
1989 至 1990
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-01550198/
关键词：
Robot Proximity Sensor Ultrasonic Sensor 近接センサ

项目摘要

Analysis and application of ultrasonic proximity sensor for robots is the main theme of this research.Last year, a new method to discern flat surface and edges of an object using an ultrasonic sensor array. This array has seven identical condenser transducers. Diameter of each transducer is 10 [mm]. The basic idea of recognition is that the mirror images of the transmitters differs according to the shape of the reflecting surface. However, in the course of this development, a further analysis on mechanism of ultrasound reflection became necessary.This year, analysis on ultrasound reflection has been carried out based on Fourier analysis. The results are as follows : 1) When the same transducer is used both as transmitter and receiver, its directional characteristics can be approximated by exponential function. 2) Acoustic impulse response of the reflecting surface can be obtained by measuring the frequency response relative to a reflection from a flat surface. Edges of an workpiece show a distinct difference in both amplitude and phase compared to smooth surface. This difference is used in recognition process. 3) Directional characteristics of a transducer is frequency dependent. This frequency dependence should be taken into account when measuring the frequency response of the reflecting surface.These results of the analysis indicates some ideas for further development of the ultrasonic sensor array developed last year.The performance of the robot controller which has been modified last year was not sufficient for real-time sensor feedback control of a robot. This year, a further modification has been carried out. The sampling interval has been shortened to 2[msec] which is short enough for the purpose. However, this modification took much more time than originally planned. Due to this delay, verification of the sensor performance using the robot was not sufficient. This is to be done in the near future.

机器人用超声波接近传感器的分析与应用是本课题的主要研究内容。去年，研究人员提出了一种利用超声波传感器阵列来识别物体表面和边缘的新方法。这个阵列有7个相同的电容换能器。每个换能器直径为10 [mm]。识别的基本思想是发射器的镜像根据反射表面的形状而不同。然而，在这一发展过程中，对超声反射机理的进一步分析是必要的。今年，在傅里叶分析的基础上对超声反射进行了分析。结果表明：1)当同一换能器既作发射又作接收时，其方向特性可以用指数函数近似表示。2)通过测量相对于平面反射的频率响应，可以得到反射面的声脉冲响应。与光滑表面相比，工件的边缘在振幅和相位上都表现出明显的差异。这种差异被用于识别过程。换能器的方向特性与频率有关。在测量反射面频率响应时，应考虑到这种频率依赖性。这些分析结果为去年研制的超声传感器阵列的进一步发展提供了一些思路。去年改进的机器人控制器的性能不足以实现机器人的实时传感器反馈控制。今年，又进行了进一步的修改。采样间隔被缩短为2[毫秒]，这对于目的来说已经足够短了。然而，这种修改比原计划花费了更多的时间。由于这种延迟，使用机器人验证传感器性能是不够的。这将在不久的将来完成。