基于超声波的移动机器人多目标探测定位方法

为了使移动机器人能够对离散的多个目标进行准确的探测定位,提出了一种新的超声波智能探测方法.采用3个收发一体的超声换能器阵列发送近似的平面声波波束,并建立空间坐标系.3个探头定时发送超声波脉冲,同时数字信号处理器采集并分析接收到的回波信号,在给定的算法下滤除杂波、识别提取回波首波、二次回波和三次回波等特征信号数据,在正确检测出各路波束的回波时间后,通过计算给出多个被测物体的准确定位.实验采用了杆件物体作为被测对象,对回波信号进行高速数据采集处理后计算出被测目标的坐标值,比较了计算物位与实测物位数据,结果验证了该方法的可行性与正确性. 

Multi-target detecting and positioning approach of mobile robot based on ultrasonic sensors

To make mobile robot detect and locate scattered multi-targets accurately, a new intelligence measurement approach based on ultrasonic sensors was proposed. An array of three ultrasonic transceivers was employed to transmit approximate plane acoustic beam, and space coordinates were built. Three sensors sent timing ultrasonic pulses, while the digital signal processor sampled and analyzed the received echoes based on designed algorithm to complete the clutter filter, the recognition and extraction of characteristic signal data from the head wave echo, second echo and third echo etc. After detecting time-of-flight of the echoes of each channel correctly, the accurate location of the measured targets was calculated. Rods were adopted as the measured objects in the experiments, which coordinate value was calculated based on high-speed echo data acquisition and processing. Compared the calculated data with the actually measured data of the rod positions, results confirm the feasibility and validity of the method.