利用可编程超声阵列准确定位目标点位置

设计和制作了一种用于移动机器人环境探测的可编程设定工作模式的超声波传感器阵列,阵列中的每个超声传感器都可以被编程设定为发射/接收器或接收器.当某个传感器是发射/接收器时,其它传感器都设定为接收模式,使系统在探测过程中始终工作于单发/多收的状态,能够比传统的多超声传感器系统获得更多的冗余信息.利用几何学的相交定位法融合每次探测所得到的数据,实现对目标点的准确定位,通过衡量目标点之间的欧式距离来区分多个目标.实验结果表明,这种新的探测系统只需要一个探测周期,就可以实现对单目标和多目标的准确定位,比传统的多超声系统具有更高的探测效率.

Accurately locate target points using programmable sonar array

A novel programmable sonar array for mobile robots environment detecting was presented. Each sonar sensor in the array could be programmed to work as a sound emitter/receiver, or a sound receiver. When one sonar sensor was programmed to be a sound emitter/receiver, the others acted as sound receivers so that the array was always working in a single-emitter-multi-receiver situation during environment detecting. Benefiting from crosstalk, the system could get a group of distance data about the target point after each sound emitting. The redundant information was fused in a geometric interpolation way to estimate the accurate position of the target point. After all the sonar in the array emitted sound signals in turn, position estimates about target points in the area were obtained. The Euclidean distance between the estimates classified different target objects. Experiments show that the sonar array can locate one or more different targets after one detecting cycle, which is more efficient than conventional sonar systems.