基于ARM的移动机器人测距传感器设计  

Design of ranging sensor for mobile robots based on ARM

作　　者：邵林[1] 戴学丰[1] 李向阳[1] 董晶[1] 

机构地区：[1]齐齐哈尔大学计算机与控制工程学院,黑龙江齐齐哈尔161006

出　　处：《计算机应用》2008年第S2期347-349,共3页journal of Computer Applications

基　　金：黑龙江省政府博士后科研启动基金资助项目(LRB00034)

摘　　要：为实现移动机器人安全避障,设计了一种基于S3C44B0X微控制器的8路超声波测距系统。具体介绍了该超声波测距传感器的软、硬件设计及工作原理。系统利用ARM外围丰富的I/O接口和内部定时器精确控制选通开关芯片CD4066的使能端,以消除多路超声波传感器之间回波干扰和直接串扰的问题,并采用最小二乘法对测量数据进行了分析和修正。实验研究结果表明,该系统具有良好的测距性能。The ultrasonic ranging system including eight channels was designed,which bases on S3C44B0X microcontroller,to implement security obstacle avoidance for mobile robot.This article particularly introduce the design of the software and hardware,and the working principle.The system using ARM external rich I/O interface and internal timer precisely control the enabling port of switch CD4066,to eliminate the interference between the multiple ultrasonic sensors.The metrical data were analyzed and amended by the least squares.Experimental results show that the system has a good performance of ranging.

关 键 词：移动机器人 S3C44B0X 超声波传感器 测距 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]