基于多微处理器的智能超声探测系统

设计了一种基于多微处理器的智能超声探测系统。该系统采用由上位工作模式控制单元和下位智能超声传感器阵列组成的分布式结构。每个超声传感器均由独立的微处理器控制,并完成实时数据处理、抗干扰处理、故障报警以及数据通信等功能。上位控制单元根据移动机器人的运动状态采用不同的控制策略,使下位传感器阵列分组并行工作,提高了探测系统的实时性;下位传感器采用"阈值比较法"、"改进型递推均值滤波"算法和模糊信息处理技术,提高了探测系统的准确性、可靠性。将该探测系统安装于RIRA-II移动机器人上,进行了基于主动视觉和超声信息的运动目标跟踪实验,实验表明超声探测系统运行可靠、稳定。

An intelligent ultrasonic detecting system based on the multi-processors is designed. In the system, a distributed architecture is adopted. The system uses an upper working mode control unit and a lower intelligent ultrasonic sensor array. Each sensor is controlled by an individual micro-processor to achieve the following functions, such as data processing, interference rejecting, malfunction alarm and communication. In the up-level control unit, different control strategies are used, according to the motion status of the mobile robot, to make the sensors of the low-level sensor array run parallel in groups. So, the real-time performance of the system is enhanced. Furthermore, in the low-level sensor array, threshold comparison, advanced data shift average filter and fuzzy information processing technology are used to improve the reliability and the accuracy of the system. Finally, the system is equipped on the RIRA-II mobile robot, and the experiment of moving object tracking based on active vision and ultrasonic information is carried out. Experimental results show that the ultrasonic detecting system is reliable and stable.

天津市应用基础研究计划(033803111)资助项目;;中国科学院沈阳自动化所机器人学研究室(RL200202)资助项目。