CN104536444A - Robot car tracking module device - Google Patents
Robot car tracking module device Download PDFInfo
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- CN104536444A CN104536444A CN201410786005.1A CN201410786005A CN104536444A CN 104536444 A CN104536444 A CN 104536444A CN 201410786005 A CN201410786005 A CN 201410786005A CN 104536444 A CN104536444 A CN 104536444A
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Abstract
The invention discloses a robot car tracking module device which comprises sensors and a signal processing circuit, and the sensors in four pairs are arranged in parallel. The distance between the sensors A and the sensors B and the distance between the sensors C and the sensors D each are X1, the distance between the sensors B and the sensors C is X2, the width of a tracking black line is X3, X2 is larger than X3, and X1 is less than or equal to X3. The signal processing circuit comprises a modulating signal generation circuit, a signal strength regulating circuit, a waveform conversion circuit and a filter circuit. The modulating signal generation circuit and the signal strength regulating circuit are used for generating 38 kHz strength-adjustable infrared light modulating signals, Schmitt trigger circuit design is adopted for the waveform conversion circuit, and low-pass filter design is adopted for the filter circuit. Thus, a tracking module is more stable in tracking posture and better in tracking effect, anti-interference performance of a system can be greatly improved, and the tracking module can conduct stable tracking on tracking surfaces with different reflectivities.
Description
Technical field
The present invention relates to a kind of robot car tracking modular device, what be specifically related to is that the element of robot car tracking modular circuit is chosen and layout, system rejection to disturbance design etc., belongs to technical field of circuit design.
Background technology
At present, robot car design very popular, the whole nation so often carry out all over the world robot car match, particularly tracking robot car, requires that robot car is walked along black line tracking on the ground of white.Want stable tracking, this has certain designing requirement to robot car tracking module.Traditional tracking modular design structure is simple, and transducer spacing arranges unreasonable, circuit anti-interference poor performance, and robot car unsteady attitude double swerve, easily generation misoperation in tracking process cause dolly to go out black line etc.Therefore need to design the robot car tracking modular device that a set of tracking speed is faster, interference free performance is stronger, tracking attitude is more stable.
Summary of the invention
For solving the deficiencies in the prior art, the object of the present invention is to provide the robot car tracking modular device that a kind of tracking speed is faster, interference free performance is stronger, tracking attitude is more stable.
In order to reach the object of foregoing invention, the technical solution adopted in the present invention is:
Robot car tracking modular device, it is characterized in that, comprise setting sensor on circuit boards and signal processing circuit, described sensor is communicated with signal processing circuit, and described sensor parallel be provided with four right, respectively be sensors A, sensor B, sensor C and sensor D, the spacing of sensors A, sensor B and the spacing of sensor C and sensor D are X1, the spacing of sensor B, sensor C is then X2, the width of tracking black line is X3, and described X2 > X3.
Further, between described X2 is 1.5 times to 2 times of X3.And described X1≤X3.
In addition, the power valve of four pairs of described sensors is all arranged on the front end of circuit board, and receiving tube is all arranged on the rear end of circuit board, and ambient light can be avoided the interference of receiving tube.
Further, four pairs of described sensors are by infrared transmitting tube and infrared receiving tube component, and namely often pair of sensor comprises an infrared transmitting tube and an infrared receiving tube.For improving the stability of circuit, reduce the complexity of circuit, infrared receiving tube adopts the integrated infrared receiving tube of inner band demodulation, and its inside comprises the signal receiving treatment circuits such as infrared receiver tube, bandpass amplifier, detection and shaping pulse.
Further, described signal processing circuit comprises modulation generating circuit, signal intensity regulating circuit, waveform translation circuit and the several part of filter circuit.Wherein, modulation generating circuit is square-wave generator, and being used for producing frequency is the square-wave signal of 38kHz, is used for modulating the infrared signal that infrared transmitting tube sends.
Signal intensity regulating circuit comprises adjustable resistance and operational amplifier, square-wave signal is loaded on the input end of the voltage follower be made up of operational amplifier with the form of dividing potential drop by adjustable resistance, be used for regulating infrared transmitting tube to send the intensity of signal, sensor can be made to adapt to different workplaces, be specially: a terminal of described adjustable resistance is connected with the output terminal of modulation generating circuit, the another terminal ground connection of described adjustable resistance, slip terminal in the middle of described adjustable resistance is connected with the in-phase input end of operational amplifier, the output terminal of described operational amplifier is connected with the inverting input of operational amplifier, the output terminal of operational amplifier is as the signal output part of signal intensity regulating circuit.
In addition, because the infrared light reflectance of zones of different on the tracking face of identical material may be different, sensor is caused easily undesired signal to be detected, waveform translation circuit is used for carrying out shaping filter to the signal that integrated infrared receiving tube exports, the undesired signal that elimination brings because of tracking face reflectivity difference, described waveform translation circuit comprises Schmidt trigger or hysteresis loop comparator, and two threshold voltages of Schmidt trigger or hysteresis loop comparator are all set to adjustable voltage, this can make tracking module can at the enterprising line stabilization tracking in the tracking face of different reflectivity.
May there is high-frequency interferencing signal in the environment residing for signal processing circuit, for improving the reliability of circuit, connect a filter circuit elimination high-frequency interferencing signal after waveform translation circuit.Filter circuit of the present invention is low-pass filter, filter circuit comprises a resistance and a capacitor, one terminal of described resistance is connected with Schmidt trigger output terminal, one terminal ground of described capacitor, the another terminal of described resistance and the another terminal of capacitor link together simultaneously as the signal output part of robot car tracking modular device.
Beneficial effect of the present invention is: the spacing between sensor of the present invention carrys out reasonable set according to the width of tracking black line, and robot car tracking attitude therefore will be made more stable, and tracking speed is faster.Infrared sensor signal, through modulation, demodulation process, can make sensor effectively avoid the interference of surround lighting.Adopt the undesired signal that the elimination of waveform translation circuit brings because of tracking face reflectivity difference.Low-pass filter circuit is connected to, elimination system high-frequency undesired signal at the output terminal of waveform translation circuit.Therefore, robot car tracking modular device tracking attitude is more stable, tracking better effects if, and system rejection to disturbance performance is greatly improved, and tracking module can at the enterprising line stabilization tracking in the tracking face of different reflectivity.
Accompanying drawing explanation
Fig. 1 is component placement's structural representation of one embodiment of the invention;
Fig. 2 is the electrical block diagram of signal processing circuit one embodiment of the present invention;
Fig. 3 is the circuit theory diagrams of modulation generating circuit one embodiment of the present invention;
Fig. 4 is the circuit theory diagrams of signal intensity regulating circuit one embodiment of the present invention;
Fig. 5 is the circuit theory diagrams of waveform translation circuit of the present invention and filter circuit one embodiment.
In figure, Main Reference Numerals implication is:
1, circuit board 2, sensor 3, infrared transmitting tube 4, integrated infrared receiving tube 5, signal processing circuit 6, patrol mark black line.
embodiment:
Below in conjunction with the drawings and specific embodiments, concrete introduction is done to the present invention.
Fig. 1 is component placement's structural representation of one embodiment of the invention.
As shown in Figure 1: robot car tracking modular device, comprise setting sensor 2 on the circuit card 1 and signal processing circuit 5, described sensor 2 is communicated with signal processing circuit 5 simultaneously.
In the present embodiment, it is four right that described sensor 2 is arranged with in parallel, respectively be sensors A, sensor B, sensor C and sensor D, the spacing of sensors A, sensor B and the spacing of sensor C and sensor D are X1, the spacing of sensor B, sensor C is then X2, tracking black line is between sensor B and sensor C, and the width of tracking black line is X3, and described X2 > X3.Each sensor 2 position is parallel, puts strict.
Tracking black line 6 turn radian little time, when sensor B encounters tracking black line 6, robot car turns left, when sensor C encounters tracking black line 6, robot car is turned right, being between sensor B and sensor C once tracking black line 6 and not contacting with sensor C with sensor B, dolly is kept straight on.For ensureing that dolly tracking is more free, and body center line can not to depart from tracking black line 6 too far away, between 1.5 times to 2 times that size X2 should be set to X3, such size design can ensure that robot car tracking is more free, and vehicle body can not frequently rock left and right.Therefore the effect of sensor B and sensor C ensures robot car left and right turn tracking.
Tracking black line 6 turn radian larger time, robot car will do the turning of larger radian.To turn left, now tracking black line 6 may enter between sensors A and sensor B by separating sensor B.When sensors A detects tracking black line 6, now tracking cart should turn left, and keep left-hand rotation state until tracking black line 6 separating sensor B and enter between sensor B and sensor C always, even if this can ensure that robot car has departed from tracking line and also can keep automatically returning on tracking line when front steering, the tracking line of the larger radian of robot car energy tracking can be made.Right-hand rotation situation and similar not repeating them here of turning left.Even if therefore the effect of sensors A and sensor D ensures that robot car has departed from tracking line and can also return on tracking line, and in order to ensure to turn rapidly, in the design, size X1 and X3 is equal, or X1 is slightly smaller than X3.
Fig. 2 is the electrical block diagram of signal processing circuit one embodiment of the present invention.
As shown in Figure 2: often pair of sensor 2 comprises an infrared transmitting tube 3 and an integrated infrared receiving tube 4, infrared transmitting tube 3 can not be exchanged with integrated infrared receiving tube 4 position, be specially: the infrared transmitting tube 3 of four pairs of described sensors 2 is all arranged on the front of circuit board 1, and integrated infrared receiving tube 4 is all arranged on the rear of circuit board 1, this can be avoided extraneous infrared light to cause interference to integrated infrared receiving tube 4 as far as possible, ensures that robot car tracking is stablized.
And described signal processing circuit 5 comprises modulation generating circuit, signal intensity regulating circuit, waveform translation circuit and the several part of filter circuit.
Fig. 3 is the circuit theory diagrams of modulation generating circuit one embodiment of the present invention.
As shown in Figure 3, form modulation generating circuit by phase inverter U1,38KHz crystal oscillator CY1, resistance R1, resistance R2 and electric capacity C1, electric capacity C2, be used for producing the square-wave signal of 38KHz.Phase inverter U2 is used for carrying out shaping to the square-wave signal exported, and improves its load-carrying ability simultaneously.Modulation generating circuit makes infrared transmitting tube 3 send the infrared light modulation signal of 38kHz, after the reflection of tracking face, be integrated infrared receiving tube 4 receive, the signal received is carried out demodulation by integration infrared receiving tube 4, then obtains the output signal of robot car tracking module after waveform conversion, filter filtering.Sensor signal, after modulation, demodulation process, can improve the antijamming capability of sensors towards ambient light, can ensure the stability of robot car tracking attitude.
Fig. 4 is the circuit theory diagrams of signal intensity regulating circuit one embodiment of the present invention.
As shown in Figure 4, signal intensity regulating circuit is formed by adjustable resistance RP1, operational amplifier U3.Square-wave signal is loaded on the input end of the voltage follower be made up of operational amplifier U3 with the form of dividing potential drop by adjustable resistance RP1, by the square-wave signal regulating RP1 can obtain amplitude linearity change at the output terminal of operational amplifier U3, the signal intensity that infrared transmitting tube L1 is sent obtains linear regulation, and this can make robot car tracking module can adapt to different tracking occasions.
In addition, because the infrared light reflectance of zones of different on tracking face may be different, or there is dust particle etc. in face to tracking, generation undesired signal is all easily received by sensor by these, therefore need to carry out shaping, filtering with waveform translation circuit to the signal that sensor receives, its this undesired signal received of elimination.Waveform translation circuit of the present invention adopts Schmidt trigger or hysteresis loop comparator to design, and two threshold voltages of Schmidt trigger or hysteresis loop comparator are all set to adjustable, this can make tracking module can at the enterprising line stabilization tracking in the tracking face of different reflectivity.
Fig. 5 is the circuit theory diagrams of waveform translation circuit of the present invention and filter circuit one embodiment.
As shown in Figure 5, form Schmidt trigger by adjustable resistance RP2, adjustable resistance RP3, phase inverter U5 and phase inverter U6, carry out shaping in order to the undesired signal received integrated receiving tube, elimination undesired signal.Adjustable resistance RP2, adjustable resistance RP3 are used for regulating two threshold voltages of Schmidt trigger.
There is the high-frequency interferencing signals such as environment electromagnetics interference toward contact in Circuits System, for improving the stability of circuit, also needing to carry out low-pass filtering at circuit output end.As shown in Figure 5, filter circuit of the present invention forms low-pass filter by resistance R4 and electric capacity C3, is used for the high-frequency interferencing signal of elimination system.The output terminal of one end welding wave translation circuit of resistance R4, the other end of resistance R4 and one end of electric capacity C3 link together, simultaneously as system final signal output end vo ut, the other end ground connection of electric capacity C3.Therefore, the road useful signal that robot car tracking modular device of the present invention finally exports is Vout.
Spacing between sensor of the present invention carrys out reasonable set according to the width of tracking black line, can ensure that robot car tracking attitude is more stable.Infrared sensor signal, after modulation, demodulation process, effectively can avoid the interference of surround lighting.Adopt the undesired signal that the elimination of waveform translation circuit brings because tracking face reflectivity is different, and adopt filtering circuit elimination system high-frequency undesired signal.Therefore, robot car tracking modular device tracking attitude is more stable, tracking better effects if, and system rejection to disturbance performance is greatly improved, and tracking module can at the enterprising line stabilization tracking in the tracking face of different reflectivity.
The above is only the preferred implementation of patent of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from patent principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be considered as the protection domain of patent of the present invention.
Claims (10)
1. robot car tracking modular device, it is characterized in that, comprise setting sensor on circuit boards and signal processing circuit, described sensor is communicated with signal processing circuit, and described sensor parallel be provided with four right, respectively be sensors A, sensor B, sensor C and sensor D, the spacing of sensors A, sensor B and the spacing of sensor C and sensor D are X1, the spacing of sensor B, sensor C is then X2, the width of tracking black line is X3, and described X2 > X3.
2. robot car tracking modular device according to claim 1, is characterized in that, between described X2 is 1.5 times to 2 times of X3.
3. robot car tracking modular device according to claim 1, is characterized in that, described X1≤X3.
4. robot car tracking modular device according to claim 1, is characterized in that, the power valve of four pairs of described sensors is all arranged on the front end of circuit board, and receiving tube is all arranged on the rear end of circuit board.
5. the robot car tracking modular device according to claim 1 or 4, is characterized in that, four pairs of described sensors are by infrared transmitting tube and infrared receiving tube composition, and the integrated infrared receiving tube of infrared receiving tube.
6. robot car tracking modular device according to claim 1, is characterized in that, described signal processing circuit comprises modulation generating circuit, signal intensity regulating circuit, waveform translation circuit and filter circuit.
7. robot car tracking modular device according to claim 6, is characterized in that, described modulation generating circuit is square-wave generator, and it exports square-wave signal frequency is 38kHz.
8. robot car tracking modular device according to claim 6, it is characterized in that, described signal intensity regulating circuit comprises adjustable resistance and operational amplifier, one terminal of described adjustable resistance is connected with the output terminal of modulation generating circuit, the another terminal ground connection of described adjustable resistance, slip terminal in the middle of described adjustable resistance is connected with the in-phase input end of operational amplifier, the output terminal of described operational amplifier is connected with the inverting input of operational amplifier, the output terminal of operational amplifier is as the signal output part of signal intensity regulating circuit.
9. robot car tracking modular device according to claim 6, is characterized in that, described waveform translation circuit comprises Schmidt trigger or hysteresis loop comparator, and two threshold voltages of Schmidt trigger or hysteresis loop comparator are adjustable voltage.
10. robot car tracking modular device according to claim 9, it is characterized in that, described filter circuit is low-pass filter, filter circuit comprises a resistance and a capacitor, one terminal of described resistance is connected with Schmidt trigger output terminal, one terminal ground of described capacitor, the another terminal of described resistance and the another terminal of capacitor link together simultaneously as the signal output part of robot car tracking modular device.
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| CN201410786005.1A CN104536444A (en) | 2014-12-18 | 2014-12-18 | Robot car tracking module device |
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| CN201410786005.1A CN104536444A (en) | 2014-12-18 | 2014-12-18 | Robot car tracking module device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106371440A (en) * | 2016-09-23 | 2017-02-01 | 珠海市杰理科技股份有限公司 | Tracking car and track correction method |
| CN112697167A (en) * | 2020-11-23 | 2021-04-23 | 深圳市越疆科技有限公司 | Threshold adjusting method of infrared tracking sensor and electronic equipment |
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| CN112697167A (en) * | 2020-11-23 | 2021-04-23 | 深圳市越疆科技有限公司 | Threshold adjusting method of infrared tracking sensor and electronic equipment |
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Application publication date: 20150422 |
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