CN1332223C - DSP-based multiple ultrasonic sensor data acquisition system - Google Patents
DSP-based multiple ultrasonic sensor data acquisition system Download PDFInfo
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- CN1332223C CN1332223C CNB021560307A CN02156030A CN1332223C CN 1332223 C CN1332223 C CN 1332223C CN B021560307 A CNB021560307 A CN B021560307A CN 02156030 A CN02156030 A CN 02156030A CN 1332223 C CN1332223 C CN 1332223C
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Abstract
The present invention relates to a multi-ultrasonic sensor data collection system based on DSP, which comprises an ultrasonic sensor for emitting ultrasonic, an ultrasonic drive template for controlling the ultrasonic sensor to emit ultrasonic, and a gate circuit for sending returned ultrasonic to a digital signal processor. One end of the digital signal processor is respectively connected to the gate circuit and the drive template for controlling the multi-way ultrasonic sensor to transmit ultrasonic at multiple frequencies, and the other end is connected to a supervisory computer through a CAN bus for communicating with the supervisory computer. The system has the advantages of compact and high-efficiency design, high data collection velocity and precision and high real-time performance. The system has important action on enhancing the environment detection capability of intelligent movable robots and increasing the adaptive capacity of the robots to unknown environment. The present invention can make the existing movable robots adapt social actual demands, and further widen the application fields of the movable robots in civil, military and industrial production.
Description
Technical field
The present invention relates to data acquisition system (DAS), particularly based on many ultrasound sensor data acquisition system of DSP.
Background technology
Keeping away in barrier and the navigational system of mobile robot, sensor plays a part very important.Ultrasonic, infrared, vision, laser sensor etc. have all obtained using widely in real system.Wherein ultrasonic sensor simple with its information processing, fast and price low, be widely used for distance measuring sensor, realization environment detection and navigation task as the mobile robot.
Traditional mobile robot's Ultrasonic Sensor Data acquisition system adopts single-chip microcomputer as core processor mostly, gather in the environment that a plurality of ultrasonic sensors measure object to the distance of robot by it, and distance values is transferred to host computer by serial communication, in host computer, finish the blending algorithm of multisensor, realize the environment sensing and the navigation of robot.Its structure is (referring to document " collection of supersonic sounding data and processing in the Mobile Robotics Navigation system ", " data acquisition and processing ", 1997 the 12nd the 2nd phases of volume) as shown in Figure 1.P1 and P2 are single-chip microcomputer, and S1...S6 is a ultrasonic sensor, and D1...D6 is a ultrasonic drive template, and E1, E2 are gate circuit.Single-chip microcomputer P1 sends ultrasound wave by drive template D1...D3 control sonac S1...S3, return the rear drive template and send high level signal and receive the port of single-chip microcomputer P1 by gate circuit E1 when ultrasound wave runs into object, single-chip microcomputer is calculated the distance of object to robot by analysis meter.Single-chip microcomputer P2 is responsible for sonac S4...S6, and its principle is identical with P1.Two single-chip microcomputer alternations, they connect as handshake, to control the job order of two chip blocks by H1, H2.The sonac ranging data that P1 and P2 calculate is by the output of I/O mouth, and through bus driver B1...B6 warp let-off STD bus, industrial computer motherboard M1 links to each other with STD bus, and M1 is connected with host computer C1 by serial port simultaneously.When C1 needs ranging data, send request by serial communication to M1, M1 obtains the supersonic sounding data of P1 and P2 collection by STD bus, and then by serial communication data is passed to C1.This system is the data acquisition core with two single-chip microcomputers, can only drive and gather Ultrasonic Sensor Data few in number.When number of sensors in the system surpasses the interface resource that two single-chip microcomputers provide, just need to increase new single-chip microcomputer and finish the range finding task.At this moment, the design of hardware and software of the system more complicated that seems, and also cost increases, and reliability reduces.Two single-chip microcomputers are by STD bus and motherboard M1 communication, M1 by serial port again with host computer C1 communication, this mode is not only loaded down with trivial details but also reduced communication speed.Though serial communication is simple, except the ultrasonic data acquisition module, also have other a plurality of modules in the general mobile-robot system, these modules can be by serial ports and robot upper machine communication.In this case,, make that the speed of communication is low, finally make the real-time of entire machine robot system reduce because the communication baud rate of serial ports is not high.
Summary of the invention
The many ultrasonic sensors ranging data acquisition system that the purpose of this invention is to provide a kind of high speed.
For achieving the above object, a kind of many ultrasound sensor data acquisition system based on DSP comprises:
Ultrasonic sensor is used to send ultrasound wave;
Ultrasonic drive template, output high level signal when being used to control ultrasonic sensor and sending ultrasound wave and ultrasound wave and return;
Gate circuit, ultrasound wave return the high level of back ultrasonic drive template output and deliver to digital signal processor through gate circuit,
It is characterized in that digital signal processor is connected to the input port of ultrasonic drive template by integrated I/O mouth, the control multiplex ultrasonic sensor is launched ultrasound wave simultaneously, digital signal processor is connected to host computer by the CAN bus, so that communicate with host computer.
The native system design is succinct efficient, data acquisition rate and precision height, and have very high real-time.This system is for the environment detection ability that improves intelligent mobile robot, the increase robot has important effect to the adaptive faculty of circumstances not known, can make existing mobile robot adapt to social actual demand more, further expand the application of mobile robot in civilian, military affairs and commercial production.
Description of drawings
Fig. 1 is traditional SCM Based many ultrasound datas acquisition system structural drawing;
Fig. 2 is the many ultrasound datas acquisition system structural drawing that the present invention is based on DSP.
Embodiment
Fig. 2 is a structural drawing of the present invention.P1 is digital signal processor (DSP) among the figure; S1, S2......S16 are 16 ultrasonic sensors; D1, D2......D16 are ultrasonic drive template, and its function mainly contains two: the one, and produce high-frequency oscillation signal driving ultrasonic sensor and send ultrasound wave; The 2nd, the ultrasound wave that returns is amplified, to remedy the decay of signal in the communication process; T1 is the CAN transceiver; C1 is the robot host computer.The principle of work of native system is: P1 sends control signal by the I/O port, and starts timer internal simultaneously and carry out timing.This control signal after power amplification as the enabling signal of drive template D1, D2......D1 6, D1, D2......D16 drive ultrasonic sensor S1, S2......S16 respectively and send ultrasound wave, return during the object of ultrasound wave in running into environment, this echo produces high level through drive template D1, D2......D16 respectively after amplifying (for remedying the decay of signal in the communication process).This high level causes the P1 external interrupt through the external interrupt interface that gate circuit E1 and E2 receive P1.P1 obtains the count value of timer in interrupt routine, according to the distance of specific algorithm computation sensor to object; If ultrasound wave is launched simultaneously, must have interference, so 16 work that ultrasonic sensor takes turns successively of P1 control.P1 constantly gathers the sonac distance measurement value and the result is stored in its inner data-carrier store (RAM).The inner integrated CAN bus controller of P1 links to each other with the CAN bus by CAN transceiver T1, and the robot host computer also is connected on the CAN bus simultaneously.Just send request by the CAN bus when host computer needs data, P1 sends to host computer with the mode of distance measurement value by the CAN bus communication.Host computer obtains robot information based on ranging data through the special algorithm computing.
Difference among the present invention and Fig. 1 is:
Adopt a digital signal processor (DSP), by the control of its I/O mouth and gather the signal of 16 ultrasonic sensors, obtain distance measurement value through computing.
Adopt the inner integrated CAN bus controller of digital signal signal processor (DSP) host computer direct and robot to pass through the CAN bus communication, the distance measurement value that DSP collects is passed to host computer.
Embodiment
Sonac is selected Polaroid 65000 for use, drive template also is the product of Polaroid, digital signal processor (DSP) adopts the TMS320LF2407 of American TI Company, the robot host computer adopts built-in industrial control machine PC104, and PC104 inserts CAN communication adapter ANVANTECH PCM-3680.The present invention is a device of realizing Mobile Robotics Navigation.
When robot moves under complex environment, the ultrasound data acquisition system is constantly gathered 16 supersonic sounding values, give the robot host computer with data by the CAN bus transfer, host computer obtains a current barrier distribution situation on every side of complete robot with these data through specific algorithm computation, adopt navigation algorithm on this basis then, robot can motion freely in environment.
The present invention expands the application of intelligent mobile robot in society and has important effect for the environment detection ability that improves intelligent mobile robot.
Claims (4)
1. many ultrasound sensor data acquisition system based on DSP comprises:
Ultrasonic sensor is used to send ultrasound wave;
Ultrasonic drive template, output high level signal when being used to control ultrasonic sensor and sending ultrasound wave and ultrasound wave and return;
Gate circuit, ultrasound wave return the high level of back ultrasonic drive template output and deliver to digital signal processor through gate circuit,
It is characterized in that digital signal processor is connected to the input port of ultrasonic drive template by integrated I/O mouth, the control multiplex ultrasonic sensor is launched ultrasound wave successively in turn, digital signal processor is connected to host computer by the CAN bus, so that communicate with host computer.
2. by the described system of claim 1, it is characterized in that described digital signal processor links to each other with the CAN bus by the CAN transceiver.
3. by the described system of claim 1, it is characterized in that described ultrasonic sensor and ultrasound templates are respectively 16, gate circuit is 2, and each gate circuit connects the delivery outlet of 8 ultrasonic drive template, and the delivery outlet of two gate circuits connects two exterior terminal ports of digital signal processor respectively.
4. by claim 1 or 2 described systems, it is characterized in that described digital signal processor comprises the CAN controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB021560307A CN1332223C (en) | 2002-12-11 | 2002-12-11 | DSP-based multiple ultrasonic sensor data acquisition system |
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| CNB021560307A CN1332223C (en) | 2002-12-11 | 2002-12-11 | DSP-based multiple ultrasonic sensor data acquisition system |
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| CN1506696A CN1506696A (en) | 2004-06-23 |
| CN1332223C true CN1332223C (en) | 2007-08-15 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101612733B (en) * | 2008-06-25 | 2013-07-31 | 中国科学院自动化研究所 | Distributed multi-sensor mobile robot system |
| CN101576536B (en) * | 2009-06-18 | 2011-01-05 | 浙江大学 | Multi-mode micro-driving force source based on phased array technology |
| CN102929826B (en) * | 2012-11-16 | 2016-05-11 | 深圳市建恒测控股份有限公司 | A kind of single ultrasonic signal bus transfer multiplex ultrasonic signal system and method |
| CN103472252A (en) * | 2013-09-17 | 2013-12-25 | 国家电网公司 | Ultrasonic wind speed measurement device based on bus communication mode |
| CN105549022B (en) * | 2016-03-04 | 2019-01-29 | 陈武强 | A kind of automobile ultrasonic method for detecting and sensor |
| CN105738904A (en) * | 2016-04-11 | 2016-07-06 | 苏州经贸职业技术学院 | Ultrasonic ranging system based on standard SCI serial port |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5168877A (en) * | 1988-10-31 | 1992-12-08 | Yokogawa Medical Systems, Limited | Ultrasonic diagnostic apparatus |
| CN1289916A (en) * | 1999-09-29 | 2001-04-04 | 王智慧 | Ultrasonic cross-correlation method for measuring flow of crude oil underground |
| JP2002162269A (en) * | 2000-11-27 | 2002-06-07 | Tokyo Keiso Co Ltd | Ultrasonic flowmeter by propagation time difference system |
-
2002
- 2002-12-11 CN CNB021560307A patent/CN1332223C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5168877A (en) * | 1988-10-31 | 1992-12-08 | Yokogawa Medical Systems, Limited | Ultrasonic diagnostic apparatus |
| CN1289916A (en) * | 1999-09-29 | 2001-04-04 | 王智慧 | Ultrasonic cross-correlation method for measuring flow of crude oil underground |
| JP2002162269A (en) * | 2000-11-27 | 2002-06-07 | Tokyo Keiso Co Ltd | Ultrasonic flowmeter by propagation time difference system |
Non-Patent Citations (6)
| Title |
|---|
| TMS320LF2407的CAN模块使用方法 卓清锋 刘和平 李远树，电子产品世界，第5期 2002 * |
| TMS320LF2407的CAN模块使用方法 卓清锋 刘和平 李远树，电子产品世界，第5期 2002;基于dsp的gr-Ⅱ机器人控制器 阳小燕 周国荣 陈新，中南工业大学学报(自然科学版)，第32卷第4期 2001;机器人多路超声波环境探测器的研制 罗本成 原魁 刘晋东 刘贤华，中国科学院研究生院学报，第19卷第2期 2002;内嵌CAN控制器的TMS320LF2407的CAN通信实例 张学锋 严利平 刘和平，单片机与嵌入式***应用，第11期 2002;移动机器人导航***中超声测距数据的采集与处理 孟庆浩 彭商贤 张伟军，数据采集与处理，第12卷第2期 1997 * |
| 内嵌CAN控制器的TMS320LF2407的CAN通信实例 张学锋 严利平 刘和平，单片机与嵌入式***应用，第11期 2002 * |
| 基于dsp的gr-Ⅱ机器人控制器 阳小燕 周国荣 陈新，中南工业大学学报(自然科学版)，第32卷第4期 2001 * |
| 机器人多路超声波环境探测器的研制 罗本成 原魁 刘晋东 刘贤华，中国科学院研究生院学报，第19卷第2期 2002 * |
| 移动机器人导航***中超声测距数据的采集与处理 孟庆浩 彭商贤 张伟军，数据采集与处理，第12卷第2期 1997 * |
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