机器人学习可编程超声波传感器阵列摄像定位系统.pdfVIP

20 11 30 1 ( T ran sdu cer and M icrosystem T echnolog ies) 79 * 黎金华, 徐 铭, 严新民, 陈小华 ( , 518060) : , 11 /, , , , : 7. 5, 200m s, 1. 2 s , : : TP 212 : A : 1000 97 87 ( 2011) 0 1 0079 04 Camera positioning system based on programmable ultrasonic * sensor array for robot learning L I J inhu a, XU M ing, YAN X inm in, CH EN X iaohua ( College of Information Engineering, Shenzhen niversity, Shenzhen 518060, China) Abstract: A n u ltrasonic sen sor array u sing for indoor cam era position o f the m ov ing objects is proposed, and it is rea lized by prog ramm ab le sofwt are and h ardw a re for robot learning. T he array can be programm ed to 11 p a irs o f tran sm ission / rece ive r sen so r. By the w ay o f com p aring the data co llected in bo th sta tic env ironm ent and un stab le env ironm ent, com bin ing w ith the mi possible probability o f the events and no rm al d istr ibution o f the sam pled da ta and in tersecting location ideo log ica l o f the geom etry. The system can compu te the po lar o rien tation b ased on the prog ramm ing m echan ism s o f the m ax mi um likelihood estmi ation, and the w e ighted ave rage operato r, as w ell as the calcu la tion of m in mi um var iance. Exp ermi ents show th at the precise ang le o f the hor izonta l position ing up to 7. 5. F lex ible zoom and focu s is rea lized. It can m eet the requ irem en ts o f indoor cam era position ing. K ey words: ultrasonic sen sor array indoor lo ca tion cam era 0 , , , , , ,