CN106646516A - Robot realizing near field scanning by adopting infrared distance measurement and combining high-speed stepping motor - Google Patents
Robot realizing near field scanning by adopting infrared distance measurement and combining high-speed stepping motor Download PDFInfo
- Publication number
- CN106646516A CN106646516A CN201710062132.0A CN201710062132A CN106646516A CN 106646516 A CN106646516 A CN 106646516A CN 201710062132 A CN201710062132 A CN 201710062132A CN 106646516 A CN106646516 A CN 106646516A
- Authority
- CN
- China
- Prior art keywords
- robot
- speed
- distance measurement
- stepping motor
- infrared distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a robot realizing near field scanning by adopting infrared distance measurement and combining a high-speed stepping motor. The robot is characterized in that one high-speed stepping motor is mounted at the top of the robot, one infrared distance measurement probe is fixed on a shaft of the high-speed stepping motor, and three conducting circular cylinders isolated from each other are mounted on the shaft of the high-speed stepping motor; the three conducting circular cylinders are respectively communicated with a power supply, a signal and the ground by virtue of three corresponding contact elastic chips beside; the high-speed stepping motor drives an infrared probe to rotate at a speed of more than 5 rounds per second, a singlechip acquires a signal AD of the infrared distance measurement probe by virtue of an analog-to-digital conversion input terminal every other N degrees, and then distance value is calculated; when the infrared probe rotates for a circle, 360/N distance values can be obtained and taken as one frame of data, namely information of surrounding environment is obtained, and environment modeling at a certain accuracy can be carried out. The robot disclosed by the invention has the beneficial effects that close range obstacle shape and position measurement is realized, and the robot is especially applicable to obstacle avoidance in a blind area of a depth sensor and environment modeling on the blind area of the depth sensor.
Description
Technical field
The present invention relates to a kind of robot, more particularly to one kind realizes near field using infrared distance measurement with reference to high-speed stepper motor
The robot of scanning.
Background technology
The ultrasonic ranging of known robot can only sense the barrier in beam area, it is impossible to determine barrier size
And position；Infrared distance measurement can measure the distance of obstacle on straight line, but can only measure a point；Depth transducer can measure visual field model
Barrier shape and position in enclosing, but cost is very high, and because it is the taper visual field, limited by its range measurement principle, near
There is larger blind area field.
The content of the invention
In order to overcome disadvantages mentioned above, the invention provides a kind of combine high-speed stepper motor realization closely using infrared distance measurement
The robot of field scan.
The technical scheme that adopted for achieving the above object of the present invention is：
The robot of near-field scan is realized with reference to high-speed stepper motor using infrared distance measurement, be it is characterized in that：
One high-speed stepper motor is installed at the top of the robot, an infrared survey is fixed with the axle of high-speed stepper motor
Away from probe, while being equipped with the conducting circular cylinder being mutually isolated at three, the corresponding end of conducting circular cylinder at three on the axle of high-speed stepper motor
Son be respectively power supply, signal,；At three conducting circular cylinder by contact flat spring at side corresponding three be respectively communicated with power supply, signal,
Ground；High-speed stepper motor drives infrared probe at the uniform velocity towards same side under the control of single-chip microcomputer with more than 5 turns per second of speed
To rotation, every N (N<10) spend single-chip microcomputer by analog-to-digital conversion input gather infrared distance measurement probe signal, then calculate away from
From value；For each revolution, 360/N distance value is obtained as a frame data, that is, obtains the information of surrounding enviroment, one can be carried out
Determine the environmental modeling of precision.
The invention has the beneficial effects as follows, closely barrier shape and position measurement is realized, it is particularly well-suited to depth sensing
The avoidance and environmental modeling of device blind area.
Description of the drawings
Below in conjunction with the accompanying drawings the present invention is further described with enforcement.Fig. 1 is the schematic diagram of the present invention, and Fig. 2 is of the invention
Theory diagram, Fig. 3 is frame detection schematic diagram.
In figure, 1 is infrared distance measurement probe, and 2 is contact flat spring, and 3 is high-speed stepper motor, and 4 is internal cabling, and 5 is conductive
Cylinder, 6 is insulating support, and 7 is single-chip microcomputer, and 8 is drive circuit, and 9 is signal AD, and 10 is barrier.
Specific embodiment
In FIG, the robot of near-field scan is realized with reference to high-speed stepper motor using infrared distance measurement, is it is characterized in that：
One high-speed stepper motor 3 is installed at the top of the robot, be fixed with the axle of high-speed stepper motor 3 one it is infrared
Range finding probe 1, while being equipped with the conducting circular cylinder 5 being mutually isolated at three, conducting circular cylinder 5 pairs at three on the axle of high-speed stepper motor 3
The terminal answered be respectively power supply+5V, signal AD, GND；Conducting circular cylinder 5 is by 8 points of contact flat spring at side corresponding 3 at three
Not Lian Tong power supply+5V, signal AD, GND；High-speed stepper motor 3 under the control of single-chip microcomputer 7, with more than 5 turns per second of speed
Drive infrared distance measurement probe 1 at the uniform velocity to rotate towards same direction, the signal AD of infrared distance measurement probe 1 is gathered every 5 degree, so as to
Go out its distance value；For each revolution, 360/5=72 distance value is obtained as a frame data, that is, obtains the letter of surrounding enviroment
Breath, can carry out the environmental modeling of certain precision.
In fig. 2, the output pulse width modulation (PWM) pulse of single-chip microcomputer 7, by drive circuit 8 high-speed stepper motor 3 is driven
At the uniform velocity rotate, while driving infrared distance measurement probe 1 at the uniform velocity to rotate towards same direction, every 5 degree of single-chip microcomputers 7 analog-to-digital conversion is passed through
The signal AD9 of input collection infrared distance measurement probe 1, then calculate distance value.
In figure 3, there are 4 different barriers 10.
The above, is only presently preferred embodiments of the present invention, and any pro forma restriction is not made to the present invention, is appointed
What without departing from the present invention program content, above example is made any simple modification according to the technical spirit of the present invention, etc.
With change and modification, still fall within the range of technical solution of the present invention.
Claims (1)
1. the robot of near-field scan is realized with reference to high-speed stepper motor using infrared distance measurement, be it is characterized in that：The robot
Top is provided with a high-speed stepper motor, an infrared distance measurement probe is fixed with the axle of high-speed stepper motor, while at a high speed
The conducting circular cylinder being mutually isolated at three is housed, the corresponding terminal of conducting circular cylinder is respectively power supply, letter at three on the axle of stepper motor
Number,；At three conducting circular cylinder by contact flat spring at side corresponding three be respectively communicated with power supply, signal,；High-speed stepper motor
Under the control of single-chip microcomputer, infrared probe is driven at the uniform velocity to rotate towards same direction with more than 5 turns per second of speed, every N (N<
10) spend single-chip microcomputer is used for environmental modeling by the signal that analog-to-digital conversion input gathers infrared distance measurement probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710062132.0A CN106646516A (en) | 2017-01-31 | 2017-01-31 | Robot realizing near field scanning by adopting infrared distance measurement and combining high-speed stepping motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710062132.0A CN106646516A (en) | 2017-01-31 | 2017-01-31 | Robot realizing near field scanning by adopting infrared distance measurement and combining high-speed stepping motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106646516A true CN106646516A (en) | 2017-05-10 |
Family
ID=58842372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710062132.0A Pending CN106646516A (en) | 2017-01-31 | 2017-01-31 | Robot realizing near field scanning by adopting infrared distance measurement and combining high-speed stepping motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106646516A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102637969A (en) * | 2012-05-03 | 2012-08-15 | 东山电器（珠海）有限公司 | Conductive device and socket |
| CN106153043A (en) * | 2015-04-13 | 2016-11-23 | Tcl集团股份有限公司 | A kind of robot chamber inner position method and system based on infrared distance sensor |
-
2017
- 2017-01-31 CN CN201710062132.0A patent/CN106646516A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102637969A (en) * | 2012-05-03 | 2012-08-15 | 东山电器（珠海）有限公司 | Conductive device and socket |
| CN106153043A (en) * | 2015-04-13 | 2016-11-23 | Tcl集团股份有限公司 | A kind of robot chamber inner position method and system based on infrared distance sensor |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170510 |
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| WD01 | Invention patent application deemed withdrawn after publication |