提出一種應(yīng)用于自治機(jī)器人的開(kāi)放結(jié)構(gòu)分布多傳感器系統(tǒng)并具體介紹了視覺(jué)輸入輸出模塊和超聲波測(cè)距模塊的實(shí)現(xiàn)。以單片機(jī)為核心的各傳感器接口模塊并行處理各傳感器信號(hào), 并通過(guò)雙口存儲(chǔ)器與上位處理器通信。視覺(jué)輸入輸出模塊實(shí)現(xiàn)三路模擬視頻信號(hào)的采樣輸入和一路模擬信號(hào)的輸出; 超聲波測(cè)距模塊實(shí)現(xiàn)16 路測(cè)距信號(hào)的采樣輸入。所設(shè)計(jì)的多傳感器系統(tǒng)已成功地應(yīng)用于自治移動(dòng)機(jī)器人的實(shí)驗(yàn)研究中。
關(guān)鍵詞　多傳感器系統(tǒng)　視覺(jué)傳感器　超聲波傳感器　機(jī)器人傳感器
Abstract 　A dist ributed mult ip le senso r system w ith open arch itecture is p resented. The imp lementat ion of moudules fo r vision input and output and ult rasonic ranging is int roduced. Modules w ith m icrocont ro llers in the system p rocess their signals parallelly, and communicate w ith ho st p rocesso r by dual po rt memo ry. The designed vision input and output module has th ree input channels fo r analog vision signals and one analog output channel. The ult rasonic ranging module can p rocess 16 input signals simultaneously. The developed system has been suc2 cessfully app lied to experimental researches of mobile autonomous robo t s.
Key words　M ult ip le senso r system　V ision senso r　U lt rasonic senso r　Robo t senso r