喷药机器人辅助视觉系统中超声测距数据的采集与处理  

The Sampling and Handling of Ultrasonic Ranging Data in an Aided Visual Sense System for Spraying Pesticide Robot

作　　者：纪良文[1,2] 赵德安[1,2] 吴春笃 

机构地区：[1]江苏理工大学电气系 [2]江苏理工大学机械工程学院

出　　处：《江苏理工大学学报（自然科学版）》1999年第3期86-90,共5页Journal of Jiangsu University of Science and Technology(Natural Science)

摘　　要：详细介绍了一种机器人超声测距系统，测距范围０．２～５ｍ，具体设计了基于单片机控制的３路超声测距系统的软、硬件，并介绍了该系统的构成、工作原理最后，通过实验获得３路测距数据，同时利用误差补偿的方法得到测距系统所要求的精度±４ｃｍ还给出了该单片机应用系统与上位机之间的通讯等利用本系统及其设计方法作为农业机器人辅助视觉系统。The article particularly introduces a robotic ultrasonic ranging system.It is able to measure the distance from 0.2 to 5 meters.The hardware and the software of three points ultrasonic ranging system is practically designed by means of control technology of single chip computer,and the structure and principle of the system are introduced.The ultrasonic ranging data is obtained through experiment and the requested accuracy(±4cm) is gained utilizing the method of error compensation.The article also gives the communication method between the single chip computer applied system and the upper computer. The authors believe that the scheme of the system and its designing method can be used as the aided visual system of agricultural robot.By means of it,the robot can obtain the messages of the distance and the roughly shape about the crops.

关 键 词：喷药机器人 超声波测距 数据采集 农药 视觉系统 

分 类 号：S499[农业科学—植物保护] TP242.3[自动化与计算机技术—检测技术与自动化装置]