一种利用3个调制led和光电二极管的自定位检测方法

Takumi Matoba, S. Serikawa
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引用次数: 0

摘要

近年来,由于出生率下降和人口老龄化导致的劳动人口减少已经成为日本的一个问题。采用线迹式自动导引车解决了这一问题。但是,该方法也存在路线不易改变、不能在避开路线上障碍物的情况下移动等缺点。因此,我们专注于能够在太空中自由移动的无人机。作为无人机在仓库等非gps环境下的自主移动方法,主要采用立体摄像机的方法。然而,在成本和准确性方面存在缺点。因此,为了改善这些缺点,我们重点研究了一种利用光照变化来检测自身位置的方法。我们提出了一种检测三维自定位的方法,使用三个led和光电二极管调制到不同的频率。通过实验验证了该方法的有效性,结果表明,该方法是一种检测无人机在房间内自定位的有效方法。它的优点是只需安装三个led就可以在任何路线上移动,而且成本低。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Method for Detectiong Self-Position Using 3 Modulated LEDs and Photodiode
In recent years, the decrease in working population due to declining birthrate and aging population has become a problem in Japan. A line trace type automatic guided vehicle is used as a solution to the problem. However, the method has some disadvantages that the route cannot be changed easily and that it cannot move while avoiding obstacles on the route. Therefore, we focused on drones that can move freely in space. As a method of autonomous movement of a drone in a non-GPS environment such as in a warehouse, a method using a stereo camera is mainly used. However, there are disadvantages in terms of cost and accuracy. Thus, in order to improve these disadvantages, we focused on a method for detectiong self-position using changes in the illuminance of light. We propose a method for detectiong three-dimensional self-position that uses three LEDs and photodiodes which are modulated to different frequencies. We experimented to check the validity of the method, and showed that this is an effective method for detecting the selfposition of the drone in a room. It has the advantages that it can move on any route just by installing three LEDs, and that the cost is low.
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