Ultrasound excitation method for eliminating robot ultrasound ranging system interference

Abstract

An ultrasonic excitation method for eliminating the crosstalk of a robot ultrasonic ranging system adopts the pseudo-random pulse position modulation mode for constructing a sole transmitting sequence for each ultrasonic transducer and uses the genetic optimization algorithm for optimizing the time interval between the adjacent pulses in the pseudo-random pulse position modulation sequence, thus allowing the duration of the transmitting sequence of each ultrasonic transducer to be 1.5 to 2ms. The ultrasonic excitation method comprises the following steps: 1. a string of pulse signals X are generated; 2. K groups of different pseudo-random series Psi are generated; 3. the pulse positions in the pulse signals X are respectively modulated by using the K groups of pseudo-random series, thus obtaining K groups of pseudo-random pulse position modulation sequences; 4. the best pseudo-random pulse position modulation sequence of the K groups is obtained; 5. K groups of ultrasonic transducers are respectively excited. The ultrasonic excitation method can lead each ultrasonic transducer to have the sole transmitting sequence, thus fundamentally avoiding the occurrence of the crosstalk; the real-time requirement of the robot navigation can be ensured; the working efficiency of a robot ultrasonic obstacle avoidance system can be effectively improved; and the reliability of the robot ultrasonic obstacle avoidance system can be greatly improved.

Description

technical field [0001] The invention relates to a multi-ultrasonic real-time ranging method without crosstalk for a robot. In particular, it relates to a method for eliminating crosstalk in a robot ultrasonic ranging system that can realize simultaneous operation of multiple ultrasonic transducers, thereby effectively improving the working efficiency of the ultrasonic obstacle avoidance system, and significantly enhancing the reliability of the robot ultrasonic obstacle avoidance system. Ultrasonic excitation method. Background technique [0002] With the increasing improvement of autonomous navigation system and the reduction of the cost of mobile robots, mobile robot technology has been more and more widely used. [0003] For mobile robots, timely collection of obstacle position information (mainly referring to the distance and orientation information between the robot and obstacles) is of great significance. If the mobile robot cannot collect the information of the surr...

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Problems solved by technology

[0023] The technical problem to be solved by the present invention is to use a pseudo-random number sequence with good correlation performance and use it to modulate the ultrasonic emission sequence for the shortcomings of the existing mobile robot ultrasonic obstacle avoidance system, such as crosstalk, low work efficiency, and poor reliability. Pulse position; moreover, in order to meet the real-time requirements of the robot ultrasonic obstacle avoidance system, the pulse interval of the emission sequence is optimized, and the duration of the entire emission sequence is shortened as much as possible without affecting the relevant performance, so as to provide mobile robots with no crosstalk, Ultrasonic excitation method for eliminating crosstalk in robot ultrasonic ranging system with high reliability and meeting real-time requirements

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