CN108519603A - Avoidance range-measurement system suitable for robot - Google Patents
Avoidance range-measurement system suitable for robot Download PDFInfo
- Publication number
- CN108519603A CN108519603A CN201810190752.7A CN201810190752A CN108519603A CN 108519603 A CN108519603 A CN 108519603A CN 201810190752 A CN201810190752 A CN 201810190752A CN 108519603 A CN108519603 A CN 108519603A
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- CN
- China
- Prior art keywords
- robot
- ultrasonic
- measurement system
- control module
- avoidance range
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- 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.)
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
The invention discloses a kind of avoidance range-measurement systems suitable for robot, including：Ultrasonic transmitter is set in robot, for emitting ultrasonic signal；Ultrasonic receiver is set in robot, the ultrasonic signal for receiving reflection；Control module, control module are communicatively coupled to ultrasonic transmitter and ultrasonic receiver, drive ultrasonic transmitter to emit ultrasonic signal by power amplification circuit, and according to the time for the ultrasonic signal for receiving reflection, obtain range information.Using the system of robot leaping over obstacles provided by the invention, microcontroller plug-in generates pulse signal, and the pulse signal is launched by ultrasonic transmitter, the ultrasonic signal of reflection is received using ultrasonic receiver, and according to ultrasonic wave send and receive between time difference, judge that robot in the distance between barrier, realizes the automatic obstacle avoidance of robot.
Description
Technical field
The invention belongs to robot fields, more particularly, to a kind of avoidance range-measurement system suitable for robot.
Background technology
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of advance layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.The avoidance effect of current most of robots
Not ideal enough, independence is inadequate, generally requires the detour that human assistance realizes certain barriers.Therefore, it is necessary to develop one kind
Robot obstacle-avoiding range-measurement system more simply accurately can realize robot autonomous avoidance, improve the service life of robot,
The information for being disclosed in background of invention part is merely intended to deepen the reason of the general background technology to the present invention
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Invention content
The purpose of the present invention is to propose to a kind of avoidance range-measurement systems suitable for robot, simply accurately realize machine
People's automatic obstacle avoiding improves the service life of robot.
To achieve the goals above, the present invention provides a kind of avoidance range-measurement system suitable for robot, including：Ultrasonic wave
Transmitter is set in the robot, for emitting ultrasonic signal；Ultrasonic receiver is set to the machine
On people, the ultrasonic signal for receiving reflection；Control module, the control module are communicatively coupled to the ultrasonic transmitter
With the ultrasonic receiver, the ultrasonic transmitter is driven to emit the ultrasonic signal by power amplification circuit, and
According to the time for the ultrasonic signal for receiving reflection, range information is obtained.
Preferably, the control module is microcontroller.
Preferably, the microcontroller controls exomonental pulse number and time interval by plug-in.
Preferably, the pulse is exported by the I/O of the microcontroller to the ultrasonic transmitter.
Preferably, the pull-up current of the I/O mouths of the microcontroller is not more than 20mA.
Preferably, the frequency of the ultrasonic wave is 40kHz.
Preferably, it is additionally provided with shaping circuit between the control module and the ultrasonic receiver, by described whole
Shape circuit carries out noise reduction process to the ultrasonic signal received.
Preferably, robot is expressed as in the distance between barrier D：
D=ct/2 (1)
Wherein, c is the transmission speed of ultrasonic wave in the medium；T is the time interval that ultrasonic wave is emitted to return.
Using the system of robot leaping over obstacles provided by the invention, microcontroller plug-in generates pulse signal, and will
The pulse signal is launched by ultrasonic transmitter, using the ultrasonic signal of ultrasonic receiver reception reflection, and according to
Time difference between being sent and received according to ultrasonic wave judges that robot in the distance between barrier, realizes the master of robot
Dynamic avoidance.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Exemplary embodiment of the invention is described in more detail in conjunction with the accompanying drawings, it is of the invention above-mentioned and its
Its purpose, feature and advantage will be apparent, wherein in exemplary embodiment of the invention, identical reference label
Typically represent same parts.
Fig. 1 shows the schematic diagram of the avoidance range-measurement system suitable for robot.
Specific implementation mode
The preferred embodiment of the present invention is described in more detail below.Although the following describe the preferred implementations of the present invention
Mode, however, it is to be appreciated that may be realized in various forms the present invention without should be limited by embodiments set forth herein.Phase
Instead, these embodiments are provided so that the present invention is more thorough and complete, and can be by the scope of the present invention completely
It is communicated to those skilled in the art.
The present invention provides a kind of avoidance range-measurement system suitable for robot, including：Ultrasonic transmitter is set to machine
On device people, for emitting ultrasonic signal；Ultrasonic receiver is set in robot, the ultrasonic wave for receiving reflection
Signal；Control module, control module are communicatively coupled to ultrasonic transmitter and ultrasonic receiver, are driven by power amplification circuit
Dynamic ultrasonic transmitter emits ultrasonic signal, and according to the time for the ultrasonic signal for receiving reflection, obtains range information.
Preferably, control module is microcontroller.
Preferably, microcontroller controls exomonental pulse number and time interval by plug-in.
Preferably, the frequency of ultrasonic wave is 40kHz.
Preferably, pulse is exported by the I/O of microcontroller to ultrasonic transmitter.
Specifically, scm software generates 40kH pulses, extremely by I/O mouthfuls of outputs, drives the probe of ultrasonic transmitter
Emit ultrasonic wave.
Preferably, the pull-up current of the I/O mouths of microcontroller is not more than 20mA.
Specifically, the pull-up current of the I/O mouths of microcontroller is not more than 20mA, but the simulation of ultrasonic transmitter is electric
Stream is higher than it, so setting transistor amplifier is needed to be amplified transmitting signal, is can be very good in this way by ultrasonic wave
Launch.
Preferably, it is additionally provided with shaping circuit between control module and ultrasonic receiver, passes through shaping circuit
Noise reduction process is carried out to the ultrasonic signal received.
Preferably, robot is expressed as in the distance between barrier D：
D=ct/2 (1)
Wherein, c is the transmission speed of ultrasonic wave in the medium；T is the time interval that ultrasonic wave is emitted to return.
Embodiment 1
As shown in Figure 1, the present invention provides a kind of avoidance range-measurement system suitable for robot, including：Ultrasonic transmitter,
It is set in robot, for emitting ultrasonic signal；Ultrasonic receiver is set in robot, anti-for receiving
The ultrasonic signal penetrated；Control module, control module are communicatively coupled to ultrasonic transmitter and ultrasonic receiver, pass through power
Amplifying circuit drives ultrasonic transmitter to emit ultrasonic signal, and according to the time for the ultrasonic signal for receiving reflection, obtains
Take range information；Wherein, control module is microcontroller；Microcontroller by plug-in control exomonental pulse number and when
Between be spaced；Pulse is exported by the I/O of microcontroller to ultrasonic transmitter；The pull-up current of the I/O mouths of microcontroller is not more than
20mA；The frequency of ultrasonic wave is 40kHz；It is additionally provided with shaping circuit between control module and ultrasonic receiver, passes through shaping
Circuit carries out noise reduction process to the ultrasonic signal received.
Robot is expressed as in the distance between barrier D：
D=ct/2 (1)
Wherein, c is the transmission speed of ultrasonic wave in the medium；T is the time interval that ultrasonic wave is emitted to return.
Robot is can be obtained in the distance between barrier by formula (1).
Using the system of robot leaping over obstacles provided by the invention, microcontroller plug-in generates pulse signal, and will
The pulse signal is launched by ultrasonic transmitter, using the ultrasonic signal of ultrasonic receiver reception reflection, and according to
Time difference between being sent and received according to ultrasonic wave judges that robot in the distance between barrier, realizes the master of robot
Dynamic avoidance.
It will be understood by those skilled in the art that above to the purpose of the description of the embodiment of the present invention only for illustratively saying
The advantageous effect of bright the embodiment of the present invention is not intended to limit embodiments of the invention to given any example.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.
Claims (8)
1. a kind of avoidance range-measurement system suitable for robot, which is characterized in that including：
Ultrasonic transmitter is set in the robot, for emitting ultrasonic signal；
Ultrasonic receiver is set in the robot, the ultrasonic signal for receiving reflection；
Control module, the control module are communicatively coupled to the ultrasonic transmitter and the ultrasonic receiver, pass through work(
Rate amplifying circuit drives the ultrasonic transmitter to emit the ultrasonic signal, and according to the ultrasonic signal for receiving reflection
Time, obtain range information.
2. the avoidance range-measurement system according to claim 1 suitable for robot, wherein the control module is monolithic
Machine.
3. the avoidance range-measurement system according to claim 2 suitable for robot, wherein the microcontroller passes through built-in journey
Sequence controls exomonental pulse number and time interval.
4. the avoidance range-measurement system according to claim 3 suitable for robot, wherein the pulse passes through the monolithic
The I/O of machine is exported to the ultrasonic transmitter.
5. the avoidance range-measurement system according to claim 2 suitable for robot, wherein the I/O mouths of the microcontroller
Pull-up current is not more than 20mA.
6. the avoidance range-measurement system according to claim 1 suitable for robot, wherein the frequency of the ultrasonic wave is
40kHz。
7. the avoidance range-measurement system according to claim 1 suitable for robot, wherein the control module and described super
It is additionally provided with shaping circuit between acoustic receiver, the ultrasonic signal received is carried out at noise reduction by the shaping circuit
Reason.
8. the avoidance range-measurement system according to claim 1 suitable for robot, wherein robot is between barrier
Distance D is expressed as：
D=ct/2 (1)
Wherein, c is the transmission speed of ultrasonic wave in the medium；T is the time interval that ultrasonic wave is emitted to return.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810190752.7A CN108519603A (en) | 2018-03-08 | 2018-03-08 | Avoidance range-measurement system suitable for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810190752.7A CN108519603A (en) | 2018-03-08 | 2018-03-08 | Avoidance range-measurement system suitable for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108519603A true CN108519603A (en) | 2018-09-11 |
Family
ID=63433635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810190752.7A Pending CN108519603A (en) | 2018-03-08 | 2018-03-08 | Avoidance range-measurement system suitable for robot |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2784945Y (en) * | 2004-04-27 | 2006-05-31 | 山东省远大网络多媒体有限责任公司 | Ultrasonic distance-measuring sensor |
| CN201837720U (en) * | 2010-10-26 | 2011-05-18 | 林禹鹏 | Ultrasonic distance measuring device based on single-chip microcomputer control |
| CN102499692A (en) * | 2011-11-30 | 2012-06-20 | 沈阳工业大学 | Ultrasonic gait detection device and method |
| CN203338137U (en) * | 2013-07-29 | 2013-12-11 | 绍兴文理学院 | Tracing obstacle avoidance wheeled robot |
| CN104199036A (en) * | 2014-09-26 | 2014-12-10 | 上海未来伙伴机器人有限公司 | Distance measuring device and robot system |
| CN105768313A (en) * | 2016-05-18 | 2016-07-20 | 青岛大学 | Obstacle-encountering ultrasonic alarm intelligent cap |
| CN105974422A (en) * | 2016-07-28 | 2016-09-28 | 杭州哈帝机器人科技有限公司 | Vehicle intelligent service robot radar obstacle avoidance system |
-
2018
- 2018-03-08 CN CN201810190752.7A patent/CN108519603A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2784945Y (en) * | 2004-04-27 | 2006-05-31 | 山东省远大网络多媒体有限责任公司 | Ultrasonic distance-measuring sensor |
| CN201837720U (en) * | 2010-10-26 | 2011-05-18 | 林禹鹏 | Ultrasonic distance measuring device based on single-chip microcomputer control |
| CN102499692A (en) * | 2011-11-30 | 2012-06-20 | 沈阳工业大学 | Ultrasonic gait detection device and method |
| CN203338137U (en) * | 2013-07-29 | 2013-12-11 | 绍兴文理学院 | Tracing obstacle avoidance wheeled robot |
| CN104199036A (en) * | 2014-09-26 | 2014-12-10 | 上海未来伙伴机器人有限公司 | Distance measuring device and robot system |
| CN105768313A (en) * | 2016-05-18 | 2016-07-20 | 青岛大学 | Obstacle-encountering ultrasonic alarm intelligent cap |
| CN105974422A (en) * | 2016-07-28 | 2016-09-28 | 杭州哈帝机器人科技有限公司 | Vehicle intelligent service robot radar obstacle avoidance system |
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Application publication date: 20180911 |
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