基于超声波传感器阵列的空间感知方法

Spatial awareness method based on ultrasonic wave sensor array

为充分利用超声波近距物理测距的技术优势,改善装备空间感知能力,提出了一种基于超声波传感器阵列的空间增强感知方法。空间上紧密排列6只超声波传感器用于构建超声波传感器阵列;通过人工标定的方法对各传感器进行测量校准;采用STM32单片机依次激发各超声波传感器,并接收各感知数据;经通用同步异步收发器(USART)串口通信上传数据至上位机。融合多超声波传感器采集到的数据画出散点图。RANSAC和最小二乘法两种方法被用于拟合点云,并获取被测物外形参数。分别在20,25,30,300 mm距离下,将阵列应用于平面、柱面、球面的测量与感知实验。实验结果表明:在近距离测量条件下,基于超声波传感器阵列的空间感知方法可获得更佳的空间感知效果。

In order to fully utilize advantages of ultrasonic wave close-range physical measurement, improve the performance on spatial awareness of equipment, a spatial awareness method based on ultrasonic sensor array is proposed.6 ultrasonic sensors, which are arranged closely on a board side by side, are used to set up the sensor array.Each sensor is measured and calibrated by manual calibration way.The STM32 single-chip microcomputer is adopted to stimulate each sensor and receive each perception data, data are upload through the USART serial port to the host computer.Scatter diagram is drew by fusing data acquired by multi ultrasonic wave sensor.Both the RANSAC and the least-square method are used to fit point cloud, and achieve contour parameters of measured objects.Three kinds of measurements on the plane, the cylinder and the sphere, which are placed at 20,25,30 and 300 mm distances from the array, are conducted.Experimental results show better spatial awareness effect can be achieved by using ultrasonic wave sensor array.