【摘要】 设计了机器人感知系统中的多路传感器数据采集系统。系统以P89C669为控制核心,分时复用其UART1,扩展7个串口循环采集超声波阵列和电子罗盘的测量数据,实现了对机器人周边环境的探测,并通过UART0将测量值上传至机器人决策控制层。更多还原

【Abstract】 A multi-channel sensor data acquisition system is designed for robot perceptual system.P89C669 is used as control core in this system,and its UART1 is reused through time-sharing.Sever serial ports are extended in order to circularly acquire measure data from ultrasonic array and digital compass.The system implements the detection of robot’s surrounding environment.At the same time,measure data is uploaded to decision control layer of robot via UART0.更多还原