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本文针对智能移动机器人环境感知和自身状态信息获取的需求,提出了一个嵌入式多功能数据采集系统的设计与实现方案,该数据采集系统采用了PC/104总线与外部进行数据交互,包含了4个超声波测距通道,6路4-20mA电流信号与0-5V电压信号可选的采集电路,8路数字信号输入和8路数字信号输出电路。文章详细介绍了数据采集系统硬件电路组成,对总线接口电路,超声波检测电路,数字信号输入输出电路,模拟信号检测以及各部分功能电路进行了详细设计与实现。该系统结构简单,实用性强,在智能移动机器人环境感知和自身状态信息获取中得到了很好的应用。
In this paper, aiming at the demand of intelligent mobile robot’s environment perception and its own state information acquisition, an embedded multi-functional data acquisition system design and implementation scheme is proposed. The data acquisition system uses PC / 104 bus to interact with external data, including 4 A ultrasonic ranging channel, 6 4-20mA current signal and 0-5V voltage signal optional acquisition circuit, 8 digital signal input and 8 digital signal output circuit. The paper introduces the hardware circuit of data acquisition system in detail, and designs and realizes the bus interface circuit, ultrasonic detection circuit, digital signal input / output circuit, analog signal detection and various functional circuits in detail. The system has a simple structure and strong practicability, and has been well applied in the environment perception of intelligent mobile robots and the acquisition of state information of the system.