提出一种应用于自治机器人的开放结构分布多传感器系统并具体介绍了视觉输入输出模块和超声波测距模块的实现。以单片机为核心的各传感器接口模块并行处理各传感器信号, 并通过双口存储器与上位处理器通信。视觉输入输出模块实现三路模拟视频信号的采样输入和一路模拟信号的输出; 超声波测距模块实现16 路测距信号的采样输入。所设计的多传感器系统已成功地应用于自治移动机器人的实验研究中。关键词 多传感器系统 视觉传感器 超声波传感器 机器人传感器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
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