机器人导航中振动检测传感器的设计与改进

针对采用传统方法进行振动检测传感器数据采集时存在的谐振失真问题,提出基于32通道VXI总线技术和阵列信号处理的机器人导航振动检测传感器改进设计方法,并对系统进行了总体设计和功能模块分析.通过均匀线列阵分布模型对检测到的振动信号进行阵列信号处理和波束形成分析,并结合32通道VXI总线数据采集技术和PXI总线数据回放技术,进行了系统模块化设计和集成.结果表明,改进的振动检测传感器系统具有较好的数据采集和信号处理能力,为机器人导航提供了准确的参量数据和控制信号输入.

Design and improvement of vibration detection sensor in robot navigation

In order to solve the harmonic distortion problem in the data acquisition process of vibration detection sensor with the traditional method, an improved design method for the robot navigation vibration detection sensor was proposed based on the VXI bus technology with 32 channels and array signal processing. In addition, the overall design and function module analysis of system were carried out. The array signal processing and beam forming analysis for the detected vibration signals were performed with the uniform linear array distribution model. In combination with the VXI bus data acquisition technology with 32 channels and PXI bus data playback technology, the modularization design and integration of system were conducted. The results show that the improved vibration detection sensor system has better abilities in data acquisition and signal processing, and can provide the accurate parameter data and control signal input for the robot navigation.