| The terrain is complex and the road is bumpy in the west of China, where the trackedor wheeled mobile platform is difficult to reach to accomplish the jobs of military operation,resource exploration and carriage of cargo.Compared with tracked or wheeled mobileplatform, bionic hydraulic quadruped robot can adapt to these unstructured terrainconditions for its goodpoints of freely choosing the laying point, easily implementing thepath plan, strong motivation and maneuvering performance. As the same time, the tobot candeal with well dynamic changeful environment with the rich variety of sensors carried onitself, which makes for military operation, resource exploration and carriage of cargo. Inthis paper, to improve the ability of bionic hydraulic quadruped robot to adapt to complexdynamic environment, a multi-sensor detection system is designed, and the informationfusion is conducted, which is based on the practical application of a bionic hydraulicquadruped robot.At first, the technical indicators of the project are put forward, and the structure designcharacteristics of the robot are analyzed in order to understand the specific situation of therobot. The selection of the main sensors is done on the basis of the parameters of stridelength, walking speed and so on in the technical indicators. Secondly, the overall designscheme of sensor detection system is put forward according to the characteristics of thetechnical indicators and the structure design characteristics. STM32F103RBT6is selectedas the mastr control chip of the detection system, and UART is determined as the way ofinformation transmission between robot control system and sensor detection system afterthe compare of common serial interface communication mode. Then, the hardware designand software design are given based on the overall design scheme of sensor detectionsystem. The hardware design contains minimum system design of master control chip, theADC circuit design, the sensor circuit design and UART serial port communication circuitdesign. And the software design is consisted of ADC module design, sensor module designand UART serial port module design. Finally, after finishing the work above, we canpre-process, store and transmit the sensor information, and verify these operations throughrelated experiments in order to ensure that robot can accurately and comprehensively graspthe environment information in real time and provide information support for the robot towork normally. After the pre-processing, storage and transmission of the sensor information in thesensor detection system, the sensor information we have gotten from sensor detectionsystem is fused in the main control system of the robot. The binocular vision sensor on therobot is indispensable component to adapt to the dynamic complex working environment,but its accuracy is low because of its short baseline. The accuracy off ultrasonic sensor ishigh, but its information dimension is relatively single. It is helpful to increase the amountof information and improve the measuring accuracy when we fuse the information from thetwo kinds of sensor. In this paper, the distance information from binocular vision sensor andultrasonic sensor is fused to improve the measuring accuracy of binocular vision sensorunder the precondition of guarantee of its information richness, which lays a technicalfoundation for the practical application of bionic hydraulic quadruped robot. |
PDF Full Text Request