提出一種應用于自治機器人的開放結構分布多傳感器系統并具體介紹了視覺輸入輸出模塊和超聲波測距模塊的實現。以單片機為核心的各傳感器接口模塊并行處理各傳感器信號, 并通過雙口存儲器與上位處理器通信。視覺輸入輸出模塊實現三路模擬視頻信號的采樣輸入和一路模擬信號的輸出; 超聲波測距模塊實現16 路測距信號的采樣輸入。所設計的多傳感器系統已成功地應用于自治移動機器人的實驗研究中。
關鍵詞　多傳感器系統　視覺傳感器　超聲波傳感器　機器人傳感器
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