基于超声波传感器的智能跟随系统设计  

Design of intelligent follower system based on ultrasonic sensor

作　　者：王毅 王恺 张艺谭 刘顿 刘妤 WANG Yi;WANG Kai;ZHANG Yitan;LIU Dun;LIU Yu(School of Mechanical Engineering,Chongqing Univerity of Technology,Chongqing 430200,China)

机构地区：[1]重庆理工大学机械工程学院,重庆430200

出　　处：《传感器与微系统》2021年第8期92-95,共4页Transducer and Microsystem Technologies

基　　金：重庆市重点产业共性关键技术创新专项项目(CSTC2015ZDCYZTZX70003);重庆市社会事业与民生保障科技创新专项项目(CSTC2017SHMS—XDNY80015)。

摘　　要：设计了一种通过超声波传感器进行目标定位和跟踪的智能小车系统。利用超声波传感器模块作为跟随目标信息采集与发射的装置;建立数学模型;针对不同的阵列方式和发射角度对超声波信号的获取进行研究;验证后选择特定角度实现了大面积超声波信号的获取。通过实验证明:搭建的超声波跟随系统在有效范围内可以获得被跟随目标的距离位置信息;误差小且定位准确;脉宽调制(PWM)控制小车进行自主移动跟踪。针对不同的超声波阵列方式对跟随系统的影响进行了测试。通过仿真对实验结果进一步验证,实验表明:跟随系统运行稳定,跟随效果良好,具有较好的准确性、实时性和智能性。An intelligent car system is designed to locate and track target through ultrasonic sensor.The ultrasonic sensor module is used as the device to collect and transmit the tracking target information.The mathematical model is established.The acquisition of ultrasonic signal is studied according to different array way and emission angles.After verification,the specific angle is selected to achieve acquisition of large area ultrasonic signal.Experiments show that the ultrasonic tracking system can obtain the distance and position information of the target in effective range.The error is very small and the localization is accurate.Pulse width modulation(PWM)control the car to move and track autonomously.The experimental results are further verified by simulation.The experimental results show that the following system operates stably,follow effect is good,and has good accuracy,real-time and intelligence.

关 键 词：超声波传感器 智能小车 自动跟随 脉宽调制(PWM) 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TP249[自动化与计算机技术—控制科学与工程]