智能移动机器人的多功能数据采集系统  

Multifunctional Data Acquisition System for Intelligent Autonomous Mobile Robot

作　　者：王耀南[1] 肖赞[1] 陈友辉[1] 

机构地区：[1]湖南大学电气与信息工程学院,湖南长沙410082

出　　处：《控制工程》2013年第6期1005-1009,1013,共6页Control Engineering of China

基　　金：国家自然科学基金项目(61175075;60835004);国家863计划课题资助(2012AA111004;2012AA112312)

摘　　要：本文针对智能移动机器人环境感知和自身状态信息获取的需求,提出了一个嵌入式多功能数据采集系统的设计与实现方案,该数据采集系统采用了PC/104总线与外部进行数据交互,包含了4个超声波测距通道,6路4-20mA电流信号与0-5V电压信号可选的采集电路,8路数字信号输入和8路数字信号输出电路。文章详细介绍了数据采集系统硬件电路组成,对总线接口电路,超声波检测电路,数字信号输入输出电路,模拟信号检测以及各部分功能电路进行了详细设计与实现。该系统结构简单,实用性强,在智能移动机器人环境感知和自身状态信息获取中得到了很好的应用。An embedded multifunctional data acquisition system was designed for intelligent autonomous mobile robot to detect its oper ating environment and status information. The system contains four acquisition circuits for ultrasonic sensors, six signal collection cir cuits that support the collection for both voltage signal from 0V to 5V and current signal from 4mA to 20mA, eight digital signal output channels, eight digital signal input channels, and the data acquisition system interface data with other device via PC/104 bus. This pa per introduced the composition of the data acquisition system, detailed designed the bus interface circuit, ultrasonic detection circuit, the digital signal inputoutput circuit, and the analog signal detection circuit for the systemthe bus interface circuit, and the realization of the function of each circuit. With the characteristics of simple structure and good practicability, the system has a good application in the detecting of the operating environment and status information of intelligent autonomous mobile robot.

关 键 词：移动机器人 PC 104 超声波 数据采集 

分 类 号：TP216[自动化与计算机技术—检测技术与自动化装置]