Design of the Position Computing for Self-Propelled Underground Tunneling Robots

摘要

While traditional methods only apply for static robots,this paper comes up with a new method to compute the position of the underground tunneling robots in motion.The two key parts of this new method are two laser beams generator and several receivers.The laser beam generator generates three laser beams which contain a gated and two fan-shaped beams.The receiver computes the relative horizontal angle and the pitch angle to the plane where the two generators locate according to the relations among the beams,the spin speed of the generator and the time difference between receptions,then computes the coordinates of the receiver through forward intersection principle.Measurement models and simulations have been developed and after comparing with the results from different methods,the precision satisfies the need for computing the position of the tunneling robots very well.