超声波

NAO配备有4个超声波传感器,用来判断与周围环境中障碍物之间的距离。探测范围为0到70cm,但是小于15cm时,没有具体的距离信息,机器人只是知道有一个物体存在。

sonars position

相对于躯干框架的位置

超声波传感器(US sensor)名称 X(m) Y(m) Z(m) WX(rd) [deg]* WY(rd) [deg]* WZ(rd) [deg]*
US sensor 1 0.0537 -0.0341 -0.0698 0.0 -0.1745 [-10.0] 0.3490 [-20.0]
US sensor 2 0.0477 -0.0416 -0.0509 0.0 0.2618 [15.0] -0.4363 [-25.0]

注释:

* 我们使用“roll”(左右动)、“pitch”(前后动)和“yaw”(扭转)来表示角度。由此,使用T=rotZ(Wz)*rotY(Wy)*rotX(Wx)来构建与转动(rotation)的协调转换。

  • US sensor 3:相对于机器人的矢状面与“US sensor 1”对称。
  • US sensor 4:相对于机器人的矢状面与“US sensor 2”对称。

访问值时,使用ALMemory关键码名

左侧超声波(m):

Device/SubDeviceList/US/Left/Sensor/Value Device/SubDeviceList/US/Left/Sensor/Value1 Device/SubDeviceList/US/Left/Sensor/Value2 Device/SubDeviceList/US/Left/Sensor/Value3 Device/SubDeviceList/US/Left/Sensor/Value4 Device/SubDeviceList/US/Left/Sensor/Value5 Device/SubDeviceList/US/Left/Sensor/Value6 Device/SubDeviceList/US/Left/Sensor/Value7 Device/SubDeviceList/US/Left/Sensor/Value8 Device/SubDeviceList/US/Left/Sensor/Value9

右侧超声波(m):

Device/SubDeviceList/US/Right/Sensor/Value Device/SubDeviceList/US/Right/Sensor/Value1 Device/SubDeviceList/US/Right/Sensor/Value2 Device/SubDeviceList/US/Right/Sensor/Value3 Device/SubDeviceList/US/Right/Sensor/Value4 Device/SubDeviceList/US/Right/Sensor/Value5 Device/SubDeviceList/US/Right/Sensor/Value6 Device/SubDeviceList/US/Right/Sensor/Value7 Device/SubDeviceList/US/Right/Sensor/Value8 Device/SubDeviceList/US/Right/Sensor/Value9





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