CN103978496B - Bio-robot ultrasonic wave sensing circuit - Google Patents
Bio-robot ultrasonic wave sensing circuit Download PDFInfo
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- CN103978496B CN103978496B CN201410221949.4A CN201410221949A CN103978496B CN 103978496 B CN103978496 B CN 103978496B CN 201410221949 A CN201410221949 A CN 201410221949A CN 103978496 B CN103978496 B CN 103978496B
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Abstract
The invention belongs to robot control circuit technical field, be specially a kind of bio-robot ultrasonic wave sensing circuit, comprise ultrasonic wave transmitter module (3) and ultrasonic wave receiver module (4); Described ultrasonic wave transmitter module (3) comprises 7 pin of time-base integrated circuit chip IC 3 described in time-base integrated circuit chip IC 3 and one end of connecting resistance R7 is connected with the movable end of adjustable resistance R8 with after a stiff end of adjustable resistance R8, and the other end of described resistance R7 is also connected with one end of electric capacity C5 after connecing 2 pin of time-base integrated circuit chip IC 3 and 6 pin of time-base integrated circuit chip IC 3.Ultrasonic wave transmitter module in the present invention and ultrasonic wave receiver module all adopt Low-voltage Low-power DC circuit, and energy ezpenditure is low, can meet various types of bio-robot and use, practical.
Description
Technical field
The invention belongs to robot control circuit technical field, be specially a kind of bio-robot ultrasonic wave sensing circuit.
Background technology
Robot is the installations automatically performing work, it both can accept mankind commander, the program of layout in advance can be run again, also can according to the principle guiding principle action of formulating with artificial intelligence technology, its task assists or replace the work of human work, such as production industry, building industry, or the work of danger.
Existing most of robot also belongs to a kind of machine that can walk and pronounce in essence, the phy-aware ability that great majority do not have " people " has, not there is the perceptional function of animal or human body, can not independent judgment people or animal near and judge the size, position etc. of this object, interactivity is poor.
Summary of the invention
The present invention overcomes the deficiency that prior art exists, and technical problem to be solved is: provide a kind of can the bio-robot ultrasonic wave sensing circuit of perceptual object Distance geometry displacement.
The present invention adopts following technical scheme to realize:
A kind of bio-robot ultrasonic wave sensing circuit, comprises ultrasonic wave transmitter module and ultrasonic wave receiver module.
Described ultrasonic wave transmitter module comprises time-base integrated circuit chip IC 3,7 pin of described time-base integrated circuit chip IC 3 one end of connecting resistance R7 are connected with the movable end of adjustable resistance R8 with after a stiff end of adjustable resistance R8, the other end of described resistance R7 is also connected with one end of electric capacity C5 after connecing 2 pin of time-base integrated circuit chip IC 3 and 6 pin of time-base integrated circuit chip IC 3, the other end ground connection of described electric capacity C5; 8 pin of described time-base integrated circuit chip IC 3 are also connected with positive source VCC after connecing another stiff end of adjustable resistance R8, ground connection after 5 pin serial capacitance C6 of time-base integrated circuit chip IC 3,1 pin ground connection of time-base integrated circuit chip IC 3, is connected with 1 pin of hex inverter IC4 after 3 pin series resistor R9 of time-base integrated circuit chip IC 3.
9 pin of described hex inverter IC4 are also connected with 1 pin of hex inverter IC4 after connecing 11 pin of hex inverter IC4,5 pin of 2 pin of hex inverter IC4,3 pin of hex inverter IC4, hex inverter IC4 also connect together, 8 pin of hex inverter IC4 are also connected with one end of electric capacity C7 after connecing 10 pin of hex inverter IC4, the other end of described electric capacity C7 is connected with an input of ultrasonic transducer S1, and 4 pin of described hex inverter IC4 are also connected with another input of ultrasonic transducer S1 after connecing 6 pin of hex inverter IC4.
Described ultrasonic wave receiver module comprises acoustic wave transducer S2, one output of described acoustic wave transducer S2 is also connected with one end of electric capacity C8 behind one end of connecting resistance R10, another output of ultrasonic transducer S2 ground connection after the other end of connecting resistance R10, be connected with 2 pin of dual operational amplifier IC5 after the other end series resistor R11 of described electric capacity C8.
Be connected with 1 pin of dual operational amplifier IC5 after the 2 pin series resistor R12 of described dual operational amplifier IC5, 1 pin of dual operational amplifier IC5 successively serial capacitance C9 is connected with 6 pin of dual operational amplifier IC5 with after resistance R13, be connected with 7 pin of dual operational amplifier IC5 after the 6 pin series resistor R14 of dual operational amplifier IC5, one end of the 3 pin shunt-wound capacitance C10 of dual operational amplifier IC5, one end of resistance R15 is connected with 5 pin of dual operational amplifier IC5 with behind one end of resistance R16, the other end of described electric capacity C10 and the equal ground connection of the other end of resistance R15, the other end of described resistance R16 is connected with positive source VCC.
7 pin of described dual operational amplifier IC5 are connected with the positive input terminal of voltage comparator ic 6; Ground connection after the negative input end series resistor R17 of voltage comparator ic 6, is connected with positive source VCC after the negative input end series resistor R18 of voltage comparator ic 6.
During concrete use, 4 pin of the time-base integrated circuit chip IC 3 in ultrasonic wave transmitter module are connected with the signal output port of main controller module.The output of voltage comparator ic 6 in ultrasonic wave receiver module is connected with the signal input port of main controller module.
Described time-base integrated circuit chip IC 3 can adopt model to be the chip of NE555, described hex inverter IC4 can adopt model to be the chip of CD4049, described dual operational amplifier IC5 can adopt model to be the dual operational amplifier of TL082, and described voltage comparator ic 6 can adopt model to be the voltage comparator chip of LM311.
Above-mentioned main controller module can adopt existing known products.
Above-mentioned time-base integrated circuit chip IC 3 forms without steady multivibrator, its frequency of oscillation is by adjustable resistance R8, resistance R7 and electric capacity C5 determines, frequency of oscillation can be changed by regulating adjustable resistance R8, the oscillator signal exported promotes ultrasonic transducer S1 sounding through the amplification of hex inverter IC4, 4 pin of time-base integrated circuit chip IC 3 are controlled by main controller module, when ultrasonic signal launched by needs, this pin is high level, the small-signal that above-mentioned ultrasonic transducer S2 receives, amplify through being ac-coupled to dual operational amplifier IC5, through amplifying signal again by voltage comparator ic 6 shaping, output signal is received by main controller module, by the ultrasonic wave transmitter module 3 be connected with main controller module, the change of signal in ultrasonic wave receiver module 4, main controller module can the size of judgment object, shape, and movement locus and speed etc.
During work, bio-robot can rely on ultrasonic wave transmitter module and ultrasonic wave receiver module to judge particular location and the shape size of animal around by main controller module, comprise: height (size), position, movement velocity etc., bio-robot is made to be provided with the perception of " people ", perfect " sensation " function of bio-robot; Described ultrasonic wave transmitter module and ultrasonic wave receiver module all have multiple, and described ultrasonic wave transmitter module and ultrasonic wave receiver module are arranged in pairs, can the position of detection surrounding objects of comprehensive, multi-angle, the information such as size and translational speed.
Ultrasonic wave transmitter module in the present invention and ultrasonic wave receiver module all adopt Low-voltage Low-power DC circuit, and energy ezpenditure is low, can meet various types of bio-robot and use, practical.
Accompanying drawing explanation
Fig. 1 is the electrical block diagram of bio-robot.
Fig. 2 is the electrical block diagram of infrared induction module.
Fig. 3 is the electrical block diagram of ultrasonic wave transmitter module.
Fig. 4 is the electrical block diagram of ultrasonic wave receiver module.
In figure: in figure: 1-main controller module, 2-infrared induction module, 3-ultrasonic wave transmitter module, 4-ultrasonic wave receiver module, 5-clock module, 6-memory module, 7-reset control module, 8-power module.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described in detail:
A kind of bio-robot ultrasonic wave sensing circuit, comprises ultrasonic wave transmitter module and ultrasonic wave receiver module.
As shown in Figure 3, the circuit structure of described ultrasonic wave transmitter module 3 is: 7 pin of time-base integrated circuit chip IC 3 one end of connecting resistance R7 are connected with the movable end of adjustable resistance R8 with after a stiff end of adjustable resistance R8, the other end of described resistance R7 is also connected with one end of electric capacity C5 after connecing 2 pin of time-base integrated circuit chip IC 3 and 6 pin of time-base integrated circuit chip IC 3, the other end ground connection of described electric capacity C5; 8 pin of described time-base integrated circuit chip IC 3 are also connected with positive source VCC after connecing another stiff end of adjustable resistance R8, ground connection after 5 pin serial capacitance C6 of time-base integrated circuit chip IC 3,4 pin of time-base integrated circuit chip IC 3 are connected with the signal output port of main controller module 1,1 pin ground connection of time-base integrated circuit chip IC 3, is connected with 1 pin of hex inverter IC4 after 3 pin series resistor R9 of time-base integrated circuit chip IC 3.
9 pin of described hex inverter IC4 are also connected with 1 pin of hex inverter IC4 after connecing 11 pin of hex inverter IC4,5 pin of 2 pin of hex inverter IC4,3 pin of hex inverter IC4, hex inverter IC4 also connect together, 8 pin of hex inverter IC4 are also connected with one end of electric capacity C7 after connecing 10 pin of hex inverter IC4, the other end of described electric capacity C7 is connected with an input of ultrasonic transducer S1, and 4 pin of described hex inverter IC4 are also connected with another input of ultrasonic transducer S1 after connecing 6 pin of hex inverter IC4.
As shown in Figure 4, the circuit structure of described ultrasonic wave receiver module 4 is: an output of acoustic wave transducer S2 is also connected with one end of electric capacity C8 behind one end of connecting resistance R10, another output of ultrasonic transducer S2 ground connection after the other end of connecting resistance R10, be connected with 2 pin of dual operational amplifier IC5 after the other end series resistor R11 of described electric capacity C8.
Be connected with 1 pin of dual operational amplifier IC5 after the 2 pin series resistor R12 of described dual operational amplifier IC5, 1 pin of dual operational amplifier IC5 successively serial capacitance C9 is connected with 6 pin of dual operational amplifier IC5 with after resistance R13, be connected with 7 pin of dual operational amplifier IC5 after the 6 pin series resistor R14 of dual operational amplifier IC5, one end of the 3 pin shunt-wound capacitance C10 of dual operational amplifier IC5, one end of resistance R15 is connected with 5 pin of dual operational amplifier IC5 with behind one end of resistance R16, the other end of described electric capacity C10 and the equal ground connection of the other end of resistance R15, the other end of described resistance R16 is connected with positive source VCC.
7 pin of described dual operational amplifier IC5 are connected with the positive input terminal of voltage comparator ic 6; Ground connection after the negative input end series resistor R17 of voltage comparator ic 6, be connected with positive source VCC after the negative input end series resistor R18 of voltage comparator ic 6, the output of voltage comparator ic 6 is connected with the signal input port of main controller module 1.
During embody rule, above-mentioned ultrasonic circuit is applied in a kind of bio-robot animal sensing circuit, as shown in Figure 1, a kind of bio-robot animal sensing circuit, comprising: main controller module 1, infrared induction module 2, ultrasonic wave transmitter module 3, ultrasonic wave receiver module 4, clock module 5, memory module 6, reset control module 7 and power module 8.
Described main controller module 1 is connected with reset control module 7 with infrared induction module 2, ultrasonic wave transmitter module 3, ultrasonic wave receiver module 4, clock module 5, memory module 6 respectively, and described power module 8 is powered for whole circuit.
As shown in Figure 2, the circuit structure of described infrared induction module 2 is: the power end positive pole of infra-red detection sensor IC1 is also connected with positive source VCC behind one end of connecting resistance R1, the other end of described resistance R1 one end of connecting resistance R2 are connected with the colelctor electrode of NPN type triode Q1 with behind one end of electric capacity C1, the signal output part of described infra-red detection sensor IC1 is also connected with one end of electric capacity C2 behind one end of connecting resistance R3, be connected with the base stage of NPN type triode Q1 after the other end of the other end shunt-wound capacitance C2 of described resistance R2, ground connection after the power end negative pole of described infra-red detection sensor IC1 the other end of connecting resistance R3 and the emitter stage of NPN type triode Q1.
Be connected with the positive input terminal of operational amplifier IC2 after the other end series resistor R4 of described electric capacity C1, the negative input end of described operational amplifier IC2 one end of connecting resistance R5 are connected with one end of resistance R6 with behind one end of electric capacity C3, ground connection after the other end serial capacitance C4 of described resistance R5, the other end of described electric capacity C3 is also connected with the output of operational amplifier IC2 after the other end of connecting resistance R6, and the output of described operational amplifier IC2 is connected with the signal input port of main controller module 1.
Described infra-red detection sensor IC1 can adopt model to be the infrared ray sensor of Q74, described operational amplifier IC2 employing model is the operational amplifier chip of LM358, when described infra-red detection sensor IC1 detects the infrared signal that front human body or animal body give off, the faint signal of telecommunication is exported by infra-red detection sensor IC1 signal output part, amplify through composition first order amplifying circuits such as NPN type triode Q1, be input in operational amplifier IC2 by electric capacity C1 again and carry out high-gain, low noise amplification, the signal now exported by operational amplifier IC2 is enough strong, finally this amplifying signal is sent to main controller module, main controller module is through analog-to-digital conversion module, above-mentioned signal is converted into the corresponding signal of telecommunication, meet the detection needs of bio-robot to infrared signal.
Bio-robot can detect people around or animal by infrared induction module 2, rely on ultrasonic wave transmitter module 3 and ultrasonic wave receiver module 4 to judge particular location and the shape size of people or animal simultaneously, can obtain and comprise: the information such as height (size), position, movement velocity, bio-robot is made to be provided with the perception of " people ", perfect " sensation " function of bio-robot; Described infrared induction module 2, ultrasonic wave transmitter module 3 and ultrasonic wave receiver module 4 all have multiple, described ultrasonic wave transmitter module 3 and ultrasonic wave receiver module 4 are arranged in pairs, can the position of detection surrounding objects of comprehensive, multi-angle, the information such as size and translational speed.
During concrete enforcement, described infra-red detection sensor IC1 adopts model to be the infrared ray sensor of Q74; Described operational amplifier IC2 employing model is the operational amplifier chip of LM358.
Described time-base integrated circuit chip IC 3 adopts model to be the chip of NE555, and described hex inverter IC4 adopts model to be the chip of CD4049.
Described dual operational amplifier IC5 adopts model to be the dual operational amplifier of TL082, and described voltage comparator ic 6 adopts model to be the voltage comparator chip of LM311.
Above-mentioned main controller module 1, clock module 5, memory module 6, reset control module 7 and power module 8 all directly can be bought and obtain.
Above-mentioned positive source VCC can adopt the dc source of below+36V, + 12V power supply is adopted in this detailed description of the invention, above-mentioned components and parts are Low-voltage Low-power direct current components and parts, energy ezpenditure is low, the short slab problem of robot existing power supply can be adapted to very well, various types of bio-robot can be met use, practical.
Claims (2)
1. a bio-robot ultrasonic wave sensing circuit, comprises ultrasonic wave transmitter module (3) and ultrasonic wave receiver module (4);
It is characterized in that: described ultrasonic wave transmitter module (3) comprises time-base integrated circuit chip IC 3, 7 pin of described time-base integrated circuit chip IC 3 one end of connecting resistance R7 are connected with the movable end of adjustable resistance R8 with after a stiff end of adjustable resistance R8, the other end of described resistance R7 is also connected with one end of electric capacity C5 after connecing 2 pin of time-base integrated circuit chip IC 3 and 6 pin of time-base integrated circuit chip IC 3, the other end ground connection of described electric capacity C5, 8 pin of described time-base integrated circuit chip IC 3 are also connected with positive source VCC after connecing another stiff end of adjustable resistance R8, ground connection after 5 pin serial capacitance C6 of time-base integrated circuit chip IC 3, 1 pin ground connection of time-base integrated circuit chip IC 3, be connected with 1 pin of hex inverter IC4 after 3 pin series resistor R9 of time-base integrated circuit chip IC 3, 9 pin of described hex inverter IC4 are also connected with 1 pin of hex inverter IC4 after connecing 11 pin of hex inverter IC4,5 pin of 2 pin of hex inverter IC4,3 pin of hex inverter IC4, hex inverter IC4 also connect together, 8 pin of hex inverter IC4 are also connected with one end of electric capacity C7 after connecing 10 pin of hex inverter IC4, the other end of described electric capacity C7 is connected with an input of ultrasonic transducer S1, and 4 pin of described hex inverter IC4 are also connected with another input of ultrasonic transducer S1 after connecing 6 pin of hex inverter IC4,
Described ultrasonic wave receiver module (4) comprises ultrasonic transducer S2, one output of described ultrasonic transducer S2 is also connected with one end of electric capacity C8 behind one end of connecting resistance R10, another output of ultrasonic transducer S2 ground connection after the other end of connecting resistance R10, be connected with 2 pin of dual operational amplifier IC5 after the other end series resistor R11 of described electric capacity C8, be connected with 1 pin of dual operational amplifier IC5 after the 2 pin series resistor R12 of described dual operational amplifier IC5, 1 pin of dual operational amplifier IC5 successively serial capacitance C9 is connected with 6 pin of dual operational amplifier IC5 with after resistance R13, be connected with 7 pin of dual operational amplifier IC5 after the 6 pin series resistor R14 of dual operational amplifier IC5, one end of the 3 pin shunt-wound capacitance C10 of dual operational amplifier IC5, one end of resistance R15 is connected with 5 pin of dual operational amplifier IC5 with behind one end of resistance R16, the other end of described electric capacity C10 and the equal ground connection of the other end of resistance R15, the other end of described resistance R16 is connected with positive source VCC, 7 pin of described dual operational amplifier IC5 are connected with the positive input terminal of voltage comparator ic 6, ground connection after the negative input end series resistor R17 of voltage comparator ic 6, is connected with positive source VCC after the negative input end series resistor R18 of voltage comparator ic 6.
2. bio-robot ultrasonic wave sensing circuit according to claim 1, is characterized in that: described time-base integrated circuit chip IC 3 adopts model to be the chip of NE555; Described hex inverter IC4 adopts model to be the chip of CD4049; Described dual operational amplifier IC5 adopts model to be the dual operational amplifier of TL082; Described voltage comparator ic 6 adopts model to be the voltage comparator chip of LM311.
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| CN2114837U (en) * | 1992-03-13 | 1992-09-02 | 郑学文 | Digital automatic distance measurer |
| JPH1144758A (en) * | 1997-07-28 | 1999-02-16 | Kubota Corp | Distance detecting device |
| CN201164538Y (en) * | 2008-03-21 | 2008-12-17 | 北京联合大学 | Walking sticks with guiding function |
| CN101430381A (en) * | 2008-12-12 | 2009-05-13 | 南京邮电大学 | Ultrasonic wave transmitting-receiving node and its implementing method |
| KR101044434B1 (en) * | 2009-10-30 | 2011-06-27 | (주)휴엔텍 | Real time locating system and method thereof |
| US8416641B2 (en) * | 2010-04-28 | 2013-04-09 | Semiconductor Components Industries, Llc | Acoustic distance measurement system having cross talk immunity |
| CN101915917B (en) * | 2010-08-31 | 2012-09-19 | 上海交通大学 | Ultrasonic ranging device |
| CN203901301U (en) * | 2014-05-26 | 2014-10-29 | 国家电网公司 | Ultrasonic sensing circuit for bionic robot |
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