一种基于动态pMUT的距离与方向双向检测方法

Bi-Directional Distance Detection Method Based on Dynamic pMUT

超声波传感器是移动机器人广泛采用的空间感知手段。为了提高空间感知范围,现有移动机器人常采取多传感器组合的方式,导致感知系统体积大、功耗高、系统复杂。提出了一种基于动态压电微机械超声换能器(pMUT)的检测方法,实现了单颗器件的双向检测功能,使测量范围在小体积、低功耗情况下获得成倍的增加。该方法利用压电薄膜双向振动的特点得到超声波双向回波信号,从而获取两个方向的测量距离。测试表明,使用该方法后单向测量范围基本不变,能准确测量两个方向上障碍物的距离,并在动态情况下反映障碍物对应方向。该方法有助于简化感知系统,有望在微型机器避障等方面发挥重要作用。

Ultrasonic sensors are widely used inmobile robots for spatial perception.To extend the spatial perception range,current mobile robots often adopt a multi-sensor approach,resulting in a sensing system that is large in volume,high in power consumption,and complex in design.In this paper,wepropose a detection method based on a dynamic piezoelectric micromachined ultrasonic transducer(pMUT)that realizes bi-directional detection with a single device,effectively doubling the measurement range while maintaining a compact size and low power consumption.This method leverages the two-way vibration characteristics of the piezoelectric film to capture ultrasonic echoes in both directions,enabling distance measurements in two directions.Results indicate that the one-way measurement range remains unchanged with this method,while distances to obstacles in both directions can be accurately measured,reflecting their corresponding directions under dynamic conditions.This method simplifies the sensing system and is expected to play an important role in obstacle avoidance for measurement.