CN107992043A - Obstacle avoidance system based on single rotary ultrasonic wave sensor - Google Patents
Obstacle avoidance system based on single rotary ultrasonic wave sensor Download PDFInfo
- Publication number
- CN107992043A CN107992043A CN201711317878.8A CN201711317878A CN107992043A CN 107992043 A CN107992043 A CN 107992043A CN 201711317878 A CN201711317878 A CN 201711317878A CN 107992043 A CN107992043 A CN 107992043A
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- CN
- China
- Prior art keywords
- stcmcu
- sonar module
- stepper motor
- sensor
- ultrasonic wave
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- 238000012360 testing method Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 2
- 230000002567 autonomic effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention discloses the obstacle avoidance system based on single rotary ultrasonic wave sensor, including photoelectric sensor, temperature sensor, display screen, STCMCU, phase inverter, motor driver, slave computer, sonar module, stepper motor, the STCMCU is connected with motor driver, the motor driver and stepper motor, the stepper motor is connected with sonar module, the sonar module is connected with phase inverter, the phase inverter is connected with STCMCU, the STCMCU is connected with sonar module, the STCMCU and photoelectric sensor, temperature sensor, display screen connects, the present invention rotates scanning machine people's front horizontal face under the drive of stepper motor, ranging information is integrated, to find optimum turning path, realize flexible avoidance, and system cost is cheap, simply.
Description
Technical field
The present invention relates to the obstacle avoidance system based on single rotary ultrasonic wave sensor, belong to the technical field of obstacle avoidance system.
Background technology
In Autonomic Mobile Robot System, robot needs real-time collecting environmental information, and one realizes avoidance, map foundation, road
The operations such as footpath planning, so selection accurately has the function of that the sensor-based system of real-time detection is extremely important, sonar, which is that one kind is non-, to be connect
Detection device is touched, there is the good range performance of higher cost performance, and is influenced from factors such as weather, illumination, it is extensive
Applied to anticollision, reversing, monitoring position and also it is, the frightened occasion of measurement etc. deeply, the advantage in the application of autonomous mobile robot
It is more prominent, but ultrasonic sensor itself directionality is poor, directive property is not strong, for this problem, can use multiple super
Sonic sensor formation sonar array solves the cross-interference issue between ultrasonic sensor, this single ultrasonic listening system
Scanning machine people's front horizontal face is rotated under the drive of stepper motor, ranging information is integrated, to find optimum turning
Path, realizes flexible avoidance, and system cost is cheap, simply.
The content of the invention
Goal of the invention：In order to overcome the problem of itself directionality is poor, directive property is not strong, the present invention provides and is based on single rotation
The obstacle avoidance system of ultrasonic sensor.
Process program：The present invention discloses the obstacle avoidance system based on single rotary ultrasonic wave sensor, including photoelectric sensor,
Temperature sensor, display screen, STCMCU, phase inverter, motor driver, slave computer, sonar module, stepper motor, it is described
STCMCU is connected with motor driver, and the motor driver and stepper motor, the stepper motor are connected with sonar module, institute
State sonar module to be connected with phase inverter, the phase inverter is connected with STCMCU, and the STCMCU is connected with sonar module, described
STCMCU is connected with photoelectric sensor, temperature sensor, display screen.
Further, the sonar module is equipped with ultrasonic sensor, and sonar module is connected by connecting rod with stepper motor,
The sonar module is since, to 180 ° of end of left end, the testing length of the sonar module is 1.5-10.5m 0 ° of right end.
The present invention rotates scanning machine people's front horizontal face under the drive of stepper motor, and ranging information is integrated,
To find optimum turning path, flexible avoidance is realized, and system cost is cheap, simply.
Brief description of the drawings
Fig. 1：The structure diagram of the obstacle avoidance system of the single rotary ultrasonic wave sensor of the present embodiment.
Embodiment
It is further elaborated below in conjunction with attached drawing and by specific embodiment to the present invention, it should be pointed out that：For this technique
For the common process personnel in field, without departing from the principle of the present invention, to repairing for various equivalent forms of the invention
Change and fall within the application appended claims limited range.
Embodiment 1：
Obstacle avoidance system as shown in Figure 1 based on single rotary ultrasonic wave sensor, including it is photoelectric sensor, temperature sensor, aobvious
Display screen, STCMCU, phase inverter, motor driver, slave computer, sonar module, stepper motor, the STCMCU and motor driver
Connection, the motor driver and stepper motor, the stepper motor are connected with sonar module, the sonar module and phase inverter
Connection, the phase inverter is connected with STCMCU, and the STCMCU is connected with sonar module, the STCMCU and photoelectric sensor,
Temperature sensor, display screen connection, the sonar module are equipped with ultrasonic sensor, and sonar module passes through connecting rod and stepping electricity
Machine connects, and the sonar module is since, to 180 ° of end of left end, the testing length of the sonar module is 1.5- 0 ° of right end
10.5m。
The present invention rotates scanning machine people's front horizontal face under the drive of stepper motor, and ranging information is integrated,
To find optimum turning path, flexible avoidance is realized, and system cost is cheap, simply.
Operation principle：Stepper motor provides energy for sonar and supports, the content that sonar is detected by phase inverter and
STCMCU processing systems carry out information processing, if problematic shown by display screen.
Claims (4)
1. the obstacle avoidance system based on single rotary ultrasonic wave sensor, it is characterised in that including photoelectric sensor, temperature sensing
Device, display screen, STCMCU, phase inverter, motor driver, slave computer, sonar module, stepper motor, the STCMCU and motor
Driver connects, and the motor driver and stepper motor, the stepper motor is connected with sonar module, the sonar module and
Phase inverter connects, and the phase inverter is connected with STCMCU, and the STCMCU is connected with sonar module, the STCMCU and photoelectric transfer
Sensor, temperature sensor, display screen connection.
2. the obstacle avoidance system according to claim 1 based on single rotary ultrasonic wave sensor, it is characterised in that the sonar
Module is equipped with ultrasonic sensor, and sonar module is connected by connecting rod with stepper motor.
3. the obstacle avoidance system according to claim 1 based on single rotary ultrasonic wave sensor, it is characterised in that the sonar
Module since 0 ° of right end to 180 ° of end of left end.
4. the obstacle avoidance system according to claim 1 based on single rotary ultrasonic wave sensor, it is characterised in that the sonar
The testing length of module is 1.5-10.5m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711317878.8A CN107992043A (en) | 2017-12-12 | 2017-12-12 | Obstacle avoidance system based on single rotary ultrasonic wave sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711317878.8A CN107992043A (en) | 2017-12-12 | 2017-12-12 | Obstacle avoidance system based on single rotary ultrasonic wave sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107992043A true CN107992043A (en) | 2018-05-04 |
Family
ID=62037192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711317878.8A Pending CN107992043A (en) | 2017-12-12 | 2017-12-12 | Obstacle avoidance system based on single rotary ultrasonic wave sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107992043A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01125608A (en) * | 1987-11-10 | 1989-05-18 | Komatsu Ltd | Guiding device for moving object |
| CN102004251A (en) * | 2010-09-27 | 2011-04-06 | 北京航空航天大学 | Compass-based horizontal scanning ultrasonic distance measurement instrument |
| CN105644455A (en) * | 2016-02-17 | 2016-06-08 | 陈杨珑 | Full-automatic wheel type manned device with environment perception capacity |
| CN105739499A (en) * | 2016-03-17 | 2016-07-06 | 江苏物联网研究发展中心 | Multipath infrared and ultrasonic sensor distribution structure of autonomous mobile robot obstacle avoidance system |
| CN105751225A (en) * | 2016-03-30 | 2016-07-13 | 吉林大学珠海学院 | Intelligent safety protection and explosive handling robot on basis of internet of things |
| CN106324619A (en) * | 2016-10-28 | 2017-01-11 | 武汉大学 | Automatic obstacle avoiding method of substation inspection robot |
-
2017
- 2017-12-12 CN CN201711317878.8A patent/CN107992043A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01125608A (en) * | 1987-11-10 | 1989-05-18 | Komatsu Ltd | Guiding device for moving object |
| CN102004251A (en) * | 2010-09-27 | 2011-04-06 | 北京航空航天大学 | Compass-based horizontal scanning ultrasonic distance measurement instrument |
| CN105644455A (en) * | 2016-02-17 | 2016-06-08 | 陈杨珑 | Full-automatic wheel type manned device with environment perception capacity |
| CN105739499A (en) * | 2016-03-17 | 2016-07-06 | 江苏物联网研究发展中心 | Multipath infrared and ultrasonic sensor distribution structure of autonomous mobile robot obstacle avoidance system |
| CN105751225A (en) * | 2016-03-30 | 2016-07-13 | 吉林大学珠海学院 | Intelligent safety protection and explosive handling robot on basis of internet of things |
| CN106324619A (en) * | 2016-10-28 | 2017-01-11 | 武汉大学 | Automatic obstacle avoiding method of substation inspection robot |
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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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180504 |
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| RJ01 | Rejection of invention patent application after publication |