《机器人定位的室内超声测距系统的研究》由会员分享，可在线阅读，更多相关《机器人定位的室内超声测距系统的研究（82页珍藏版）》请在金锄头文库上搜索。
1、（硕士学位论文）机器人定位的室内超声测距系统的研究 中 文 摘 要 机器人定位的室内超声测距系统的研究 摘要 本文详细介绍了一种用于机器人定位的室内超声测距系统系统通过测量超 声波脉冲在压电超声波传感器和目标物体之间的渡越时间来测量目标物体的距 离并且通过监控环境温度和执行实时的温度补偿对超声波的传播速度进行校 正本系统可用于机器人定位并可与遥测遥控系统配合使用有较广阔的应用 前景 作者主要完成的工作包括 1 论文调研了超声波测距技术的现状和进展给出了自动测量目标物体距 离的整体设计文中就可能影响本系统测量精度的因素进行了详尽的分析并给出 了相应的解决措施 2 系统设计应用双比较器整形电路确定
2、回波前沿同时采用一个数字式 温度传感器DS18B20 实时测量环境温度以实现温度补偿从而提高超声测距 的准确度 3 系统采用软件延时的方法避开从发射传感器不经反射直接传播到接收 传感器的超声信号从而避开这一段盲区同时也通过软件设计消除硬件电路 的时间延迟 4 在硬件电路的设计中针对超声波振幅在传播时呈指数衰减的特性最 大限度地提高驱动能力对回波进行多级放大同时采用温度补偿电路和双比较 器整形电路 5 在软件设计上采用了模块化程序设计思想对软件的这种处理能使软 件的结构清晰有利于软件的调试和修改 6 本文完成了硬件部分的整体电路设计和制作软件部分的程序流程及源 程序编写研制出了实验样机并对实验样
3、机进行调试实验得出了实验结果 及结论该系统对室内有限范围的距离测量具有较高的精度和可靠性最后分析 了误差产生的原因并提出了相应的改进方案 关键词超声波超声测距温度补偿双比较器整形电路 英 文 摘 要 Research on Indoor Ultrasonic Ranging System used for Robot Location ABSTRACT This paper introduces a design of indoor ultrasonic ranging system used for robot location The system determines the dista
4、nce to an object or obstacle by the measurement of a round trip time of the ultrasonic pulses between the piezoelectric ultrasonic transducer and the object or obstacle The ultrasonic propagation speed is further corrected by monitoring the ambient temperature and performing real-time temperature co
5、mpensation The system can be used for robot location It is capable of being used in combination with telemeter and telecontrol system and has extensive application prospects The main works completed by the author include 1 By the investigation of the present level and progress of the ultrasonic rang
6、ing technology this paper proposes a design for the automatic measurement of the distance to an object or obstacle The factors affecting the measurement accuracy are analyzedand the corresponding solutions are put forward 2 The design adopts the dual-comparator shaping circuits to determine the forw
7、ard edge of echo and employs a digital thermometer DS18B20 to measure the ambient temperature for realizing real-time temperature compensation thereby improves efficiently the accuracy of ultrasonic ranging 3 To avoid the blind zone in which ultrasonic waves travel from the transmitter directly to t
8、he receiver a method of software delay is adopted The delay time in the measurement circuit is also compensated by using the software 4 In the design of the hardware circuit the ultrasonic transmitting energy is imized and the signal of the ultrasonic echo is amplified by using the multi-level enlar
9、ging circuitso to minimize the affection of ultrasonic attenuation Also the dual-comparator shaping circuits and temperature compensation circuit are developed 5 During the process of making software we apply the modular design 英 文 摘 要 method dealing with the software like that not only makes the st
10、ructure of the software clearerbut also is good for adjustments and amendments of the software 6 Both the design and manufacturing of the whole hardware circuit for the measurement and control system and the flow chart and compilation of the software program have been completed An experimental proto
11、type is made out and debugged and tested The experimental results indicate that the system is provided with high accuracy and reliability in limited indoor ranging In the end the error analysis is given in this paperand the further modifications of the system are presented Keywords ultrasonic waveul
12、trasonic ranging system temperature compensation dual-comparator shaping circuits 目录 目录 第一章 绪 论 1 11 课题的提出及意义 1 com 课题的提出 1 com 课题的意义 1 12 国内外研究的概况 1 13 课题主要研究的内容2 第二章 超声测距技术综述4 21 超声及超声传感器简介4 com 超声概述4 com 超声传感器结构6 com 超声传感器的主要参数及选择9 22 定位的方法和原理 10 com 基于测距的定位方法 10 com 超声定位原理 12 23 超声测距原理与方法 13 24 采用双比较器整形电路的工作原理 14 25 系统主要参数考虑 15 com 传感器的指向角 15 com 测距仪的工作频率 15 com 温度对声速的影响 16 com 测量盲区 17 com 硬件电路时
