基于STM32的分体式超声测距与目标定位系统

摘要

针对移动机器人自主避障与跟随目标定位的实际需求,设计了一套超声收发可控的分体式超声测距定位系统.系统由超声发射端和超声定位端两部分组成,可同时实现障碍距离探测与发射端定位的功能.系统以STM32单片机为核心,基于2.4G无线模块对发射端与定位端进行时间同步,并采用三角算法对发射端进行平面定位;系统采用收发分体式超声探头,并搭载自动增益控制(AGC)电路与温度补偿电路,在提高测距精度的同时减小了测距盲区;进行了超声测距实验,实验结果表明,超声测距精度达到15 mm,盲区60 mm,验证了系统的实用性.%Based on the practical requirements on obstacle avoidance and target following of mobile robots,a separated ultrasonic ranging and targeting system was designed.The system,which consists of ultrasonic transmitter and ultrasonic receiver,can detect the distance of obstacle and locate the transmitter as well.STM32 microprocessor was the core of the system and 2.4G wireless modules were used for time synchronization between the transmitter and the receiver.Two-dimensional localization of the transmitter was based on triangulation algorithm.The system was equipped with split-type transducers,automatic gain control (AGC) circuits and temperature compensation circuit to improve ranging accuracy and reduce blind zone.Ultrasonic distance measurement experiment was carried out.Experimental results show that the system can achieve a 15 mm ranging accuracy and narrow the blind zone to 60 mm,verifying the practicability of the system.