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介绍了自行设计的移动机器人CASIA-I中超声测距系统的软、硬件,以及超声测距数据与上位机通信的设计和实现过程。该系统以DSP-TMS320LF2407A作为核心处理器,以CAN总线为基础,实现了上述功能。经实验验证,测距范围为0.45m～3.5m,系统测距精度在0.7%以内,可以满足移动机器人室内导航的要求。
This paper introduces the design and implementation process of the software and hardware of ultrasonic ranging system in CASIA-I mobile robot designed by ourselves and the communication between ultrasonic ranging data and host computer. The system to DSP-TMS320LF2407A as the core processor to CAN bus-based, to achieve the above functions. Experimental verification, ranging from 0.45m ~ 3.5m, the system ranging accuracy within 0.7%, to meet the requirements of mobile robot indoor navigation.