TAILIEUCHUNG - Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 9

Tham khảo tài liệu '(2001) part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Chapter 6 Active Beacon Navigation Systems 161 This angle calculation determines either the leading edge of the target the trailing edge of the target or the center of the target depending upon the option selected within the LASERNET software option list. The angular accuracy is 1 percent and the angular resolution is degrees for the analog output accuracy is within .05 percent with a resolution of degrees when the RS-232 serial port is used. The analog output is a voltage ranging from 0 to 10 V over the range of -45 to 45 degrees whereas the RS-232 serial port reports a proportional count value from 0 to 15360 over this same range. The system costs 3 400 in its basic configuration but it has only a limited range of 15 meters 50 ft . Figure The LASERNET system can be used with projecting wall-mounted targets to guide an AGV at a predetermined offset distance. Courtesy of NAMcO Controls. Figure a. The perceived width of a retroreflective target of known size is used to calculate range b. while the elapsed time between sweep initiation and leading edge detection yields target bearing. Courtesy of NAMCO Controls . . Bureau of Mines application of the LaserNet sensor One robotics application of the NAMCO LaserNet is a research project conducted by Anderson 1991 at the . Bureau of Mines. In this project the feasibility of automating the motion of a continuous mining CM machine. One such CM is the Joy 16CM shown in Fig. . The challenge with a CM is not speed but vibration. During operation the cylindrical cutting device in front of the machine see Fig. cuts coal from the surface and a conveyor belt moves the coal backward for further processing. This and related activities generate a considerable amount of vibration. Another challenge in this mining application is the stringent requirement for high accuracy. High accuracy is required since even small position and orientation errors cause non-optimal cutting conditions that .

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