A new ultrasonic distance measurement system based on vaccum robot

CUI Zhuang-ping; ZHU Shi-qiang

doi:10.13873/j.1000-97872010.10.035

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A new ultrasonic distance measurement system based on vaccum robot

更新时间：2025-09-11

- A new ultrasonic distance measurement system based on vaccum robot
- Vol. 29, Issue 10, Pages: 93-96(2010)
- 作者机构：
  
  浙江大学流体传动及控制国家重点实验室
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872010.10.035
  CLC： TP274.53
- Published：2010
- 稿件说明：
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[1]崔壮平,朱世强.一种基于吸尘机器人的新超声波测距系统[J].传感器与微系统,2010,29(10):93-96.

CUI Zhuang-ping, ZHU Shi-qiang. A new ultrasonic distance measurement system based on vaccum robot[J]. 2010, 29(10): 93-96.
[1]崔壮平,朱世强.一种基于吸尘机器人的新超声波测距系统[J].传感器与微系统,2010,29(10):93-96. DOI： 10.13873/j.1000-97872010.10.035.

CUI Zhuang-ping, ZHU Shi-qiang. A new ultrasonic distance measurement system based on vaccum robot[J]. 2010, 29(10): 93-96. DOI： 10.13873/j.1000-97872010.10.035.

摘要

为了提高基于吸尘机器人的超声视觉的测距精度和抗干扰能力

提出一种同时采用阈值法和多频连续波算法的测距系统。对于超声波激励信号

一般采用分频算法来产生

引入直接数字频率综合算法可以得到更精确、更稳定的频率

针对吸尘机器人的具体应用

推导出对应多频连续波算法的计算公式。将2种方法所需硬件上的不同全放在复杂可编程逻辑器件（CPLD）内实现

2种方法的具体融合用软件实现

仿真和实验证明:新方法能大大改善传统方法的测距效果。

Abstract

A new ultrasonic distance measurement system combining threshold-crossing and phase shift method is introduced to improve the precision and anti-jamming ability of the ultrasonic vision of vacuum robot.Divider algorithms are always used to generate excitation signal of ultrasonic

the frequency is made more precise and stable by using direct digital frequency synthesizer（DDS） algorithm.The formula of multiple-frequency continuous wave（MFCW） is deduced according to the specific applications of vacuum robot.The difference of the two methods in hardware is in CPLD

the amalgamation of the two methods is realized in software.A conclusion can be obtained that new method can greatly improve the precision of distance measurement through simulation and experiment.

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references

对自主吸尘机器人多路超声波下窜绕信号的研究 [J]. 龚华锋,冯申珅,朱世强,刘瑜,金波. 机床与液压 . 2004(07)

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