论文标题
在仓库环境中安全的人类机器人互动的UltrawideBand繁殖场景的建模
Modelling of Ultrawideband Propagation Scenarios for Safe Human-Robot Interaction in Warehouse Environment
论文作者
论文摘要
该论文提出了一个理想化的仓库环境，其中人类和机器人都存在并且需要进行交流以避免相互碰撞。仓库架子被建模为金属（PEC）并行剥离，这是最大的实际感兴趣障碍，而用于通信的UWB Gaussian信号为3.994 GHz，使用了468 MHz宽度。使用射线跟踪软件分析信号传播，其目标是确定通信范围和最佳天线配置。已经分析和讨论了几种情况。发现对通信范围的主要影响通过放置在人和机器人上的天线的极化类型表现出来，而当所有天线都垂直极化时，则获得了最佳范围。
The paper presents an idealized warehouse environment where human and robots are both present and need to communicate to avoid mutual collisions. The warehouse shelves are modelled as metallic (PEC) parallelepipeds, which is the largest obstacle of practical interest, while for communication an UWB Gaussian signal at 3.994 GHz and 468 MHz width is used. The signal propagation is analyzed using ray tracing software, with the goal to determine the range of communication and the optimum antenna configurations. Several scenarios have been analyzed and discussed. It is found that the major influence on the communication range is exhibited by type of polarization of antennas placed on human and robot, while the optimum range is obtained when all the antennas are vertically polarized.
