CAJ | 학술논문

在超声波测距理论的基础上，结合测距系统硬件和软件的研究，设计一种适用于环境探测机器人的超声波测距系统。通过室外环境测距实验获得距离数据，针对系统测量误差产生的原因进行分析，当测距范围在1～3m时，相对误差不超过2％。系统采用分时触发工作方式，避免声波间串扰。测距系统和上位机通过串口通信。测试表明，上位机成功接收系统传输的测距数据，很好地满足机器人的测距要求。
재초성파측거이론적기출상，결합측거계통경건화연건적연구，설계일충괄용우배경탐측궤기인적초성파측거계통。통과실외배경측거실험획득거리수거，침대계통측량오차산생적원인진행분석，당측거범위재1～3m시，상대오차불초과2％。계통채용분시촉발공작방식，피면성파간천우。측거계통화상위궤통과천구통신。측시표명，상위궤성공접수계통전수적측거수거，흔호지만족궤기인적측거요구。
For the environmental perception of exploration robots, an ultrasonic ranging system was presented, including the design of both hardware circuit and software based on the principles of ultrasonic ranging.Distance measurements obtained through the outdoor experiment indicate that the relative error of the system is less than 2%when the range is between 1 ~3 m, and the primary reason of the error is analyzed.The time-sharing working method of multiple sensors reduces the influences of crosstalk on the reliability of measurement in ranging system. The host computer communicates with the system via serial port.The experimental results show that it has success-fully received output data of the system that can satisfy the ranging requirements of environment exploration robot.