Journal of Shanghai University(Natural Science Edition) ›› 2011, Vol. 17 ›› Issue (3): 253-258.doi: 10.3969/j.issn.1007-2861.2011.03.007
• Mechatronics Engineering and Automation • Previous Articles Next Articles
Received:
Online:
Published:
Abstract: This paper presents a method of spatial shape rebuilding and target positioning for a robot used in searching and rescuing lives in ruins. In order to rebuild a spatial curve representing the shape of the robot body which is 3.5 m long, a long curvature sensor is designed based on fiber Bragg grating (FBG) to detect spatial curvature information, and the spatial curve fitting is realized based on these discrete spatial curvatures. After shape rebuilding, this paper realizes searching and rescuing target positioning using a threeaxis electronic compass to detect posture of the datum point of shape rebuilding. Experimental data show that the targeting error is about 10 cm which basically meets the target positioning requirements of robots. With the posture detection of a threeaxis electronic compass, the shape and position detection system becomes more effective and practical.
Key words: fiber Bragg grating (FBG), electronic compass, positioning, shape rebuilding
fiber Bragg grating (FBG),
CLC Number:
TP 24
TU Jian-Nai, CHEN Lin-Yong, ZHANG Shen, ZHANG E-Nan. Shape and Position Detection of Search and Rescue Robot Used in Ruins[J]. Journal of Shanghai University(Natural Science Edition), 2011, 17(3): 253-258.
0 / / Recommend
Add to citation manager EndNote|Reference Manager|ProCite|BibTeX|RefWorks
URL: https://www.journal.shu.edu.cn/EN/10.3969/j.issn.1007-2861.2011.03.007
https://www.journal.shu.edu.cn/EN/Y2011/V17/I3/253