对自主吸尘机器人多路超声波下窜绕信号的研究  

Research on the Crosstalk of Multi-ultrasonic Sensors in the Intellectual Autonomous Cleaning Robot

作　　者：龚华锋[1] 冯申珅[1] 朱世强[1] 刘瑜[1] 金波[1] 

机构地区：[1]浙江大学流体传动及控制国家重点实验室,浙江杭州310027

出　　处：《机床与液压》2004年第7期43-44,6,共3页Machine Tool & Hydraulics

摘　　要：在自主吸尘机器人的定位导航中 ,实时获取周围环境信息的传感器至关重要。本项目HSR2 0 0 0使用了多路超声波传感器 ,采用了群发群收的工作模式。在此基础上本文对超声波窜绕信号进行了初步分析 ,同时探讨了窜绕信号对接收信号的稳定性和对发射功率及测量值误差等因素的影响 ,并提出了几种解决方法。The multi-ultrasonic sensors and the mode of making ultrasonic transmit and receive simultaneously were adopted for the HSR2000.The crosstalk in multi-ultrasonic sensors was analyzed,the influence was discussed inchuding the stability of the receiving signal,the emission power of multi-ultrasonic sensors and the measurement errors caused by the crosstalk.Several resolutions were given.

关 键 词：自主吸尘机器人 超声波测距 窜绕信号 多路传感器 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]