摘要
为了使底盘机构能够准确地辅助轮椅实现爬楼动作,为其安装检测楼梯环境信息的传感器系统,包括检测踏面与踢面距离的超声波模块和红外线模块,以及检测底盘角度的传感器模块。给出了各传感器模块在底盘机构的位置布局,并通过各传感器模块检测获取底盘机构周围环境的楼梯信息;将采集的模拟数据信息,送入主控板数字信号处理器(DSP)进行融合处理,并采用多机串行通信模式将数据通过串行通信接口(SCI)模块传送至上位机,上位机经分析处理后向电机传送命令使其带动执行机构部件完成相应调节动作,实现对轮椅底盘机构的控制;将传感器的采集结果在VC++6.0界面上实时显示。
The sensor system is used to detect the surrounding environment information,including ultrasonic module and infrared module which detect distance between tread and play plane and sensor module to detect angle of chassis angle. Position layout of the sensor module in chassis mechanism is given and the stairs information surrounding the chassis mechanism will be detected accurately by each sensor module. The simulated data information which is acquired by the sensor module will be sent to master control board digital signal processor（DSP） to implement data fusion processing and the data will be sent to upper PC through serial communication interface（SCI） module by the multi-machine serial communication mode. Upper PC send command to the electric motor to drive the actuator unit to complete the corresponding adjustment action,aiming at realizing control of chassis mechanism. Acquisition results of sensor will be displayed on the VC ＋ ＋ 6. 0 interface.
出处
《传感器与微系统》
CSCD
2018年第1期70-73,78,共5页
Transducer and Microsystem Technologies
基金
国家自然科学基金资助项目(51275152)
关键词
底盘机构
传感器
数字信号处理器
串行通信
上位机
chassis mechanism
sensor
digital signal processor （DSP）
serial communication
upper PC
