CN111694363B - Robot navigation signal processing circuit - Google Patents
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- CN111694363B CN111694363B CN202010588477.1A CN202010588477A CN111694363B CN 111694363 B CN111694363 B CN 111694363B CN 202010588477 A CN202010588477 A CN 202010588477A CN 111694363 B CN111694363 B CN 111694363B
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- 238000003199 nucleic acid amplification method Methods 0.000 claims description 6
- 230000002457 bidirectional effect Effects 0.000 claims description 5
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The invention discloses a robot navigation signal processing circuit which comprises a photoelectric detector and a position controller, wherein signals detected by the photoelectric detector are transmitted to the position controller, so that the problems of inaccurate navigation signals caused by unstable position signal amplitude of a robot in the process of traveling and resource waste caused by designing an obstacle avoidance algorithm aiming at a small robot are effectively solved. When the robot navigation device is used specifically, a position signal detected by the photoelectric detector is amplified and stabilized through the amplifying and stabilizing circuit, then the position signal is transmitted to the comparison trigger circuit, the comparison trigger circuit compares the position signal and then controls the advancing direction of the robot through the position controller, so that the robot is controlled not to collide with an obstacle, the problem that navigation signals are inaccurate due to unstable amplitude of the position signal is avoided, the high-frequency response characteristic of the circuit is improved, and the phenomenon of resource waste is avoided.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot navigation signal processing circuit.
Background
Along with the improvement of living standard, science and technology gradually enrich the lives of people and simplify the labor intensity of people, and as one of modern science and technology products, robots also gradually enter the lives of people, for example, the produced sweeping robot starts to replace people to sweep the places difficult to sweep such as corners and corners in a room to be clean; the manufactured carrying type robot replaces people to carry heavier goods. Position changes, such as walking and advancing, are inevitably required during the above robot work. In the prior art, the position of a robot is obtained by using a laser sensing technology, an infrared sensing technology, a visual sensing technology, a camera shooting technology and the like, and then the position is analyzed by using a position controller in the robot so as to obtain a navigation signal of the robot.
However, in the prior art, a robot receives a position signal detected by using the sensing technology by using a photoelectric detector, but the received position signal has different amplitudes due to different transmission distances and affects the accuracy of a position controller in signal analysis; in the prior art, a precise obstacle avoidance algorithm is adopted to solve the problem of mistakenly colliding with an obstacle in the process of traveling for a robot with complex working contents, but when the robot is a small robot which only needs to repeatedly perform simple work, the phenomenon of resource waste is caused by the precise obstacle avoidance algorithm.
The present invention therefore provides a new solution to this problem.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a robot navigation signal processing circuit, which effectively solves the problems of inaccurate navigation signals caused by unstable position signal amplitude in the process of traveling of a robot and resource waste caused by designing an obstacle avoidance algorithm aiming at a small robot.
The robot navigation signal processing circuit comprises a photoelectric detector and a position controller, wherein signals detected by the photoelectric detector are transmitted to the position controller.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages:
1. the position signal detected by the photoelectric detector is received through the capacitor C1 and the inductor L1, and the position signal is stabilized by using the amplifying and voltage stabilizing circuit taking the triode Q1, the triode Q2, the triode Q3 and the voltage stabilizing diode D1 as cores, so that the high-frequency response characteristic of the circuit is improved, the abnormal high-level signal is reduced, the abnormal low-level signal is improved, and the problem of inaccurate navigation signal caused by unstable amplitude of the position signal is avoided;
2. the comparison trigger circuit taking the operational amplifier U1B, the triode Q4, the resistor R12, the voltage stabilizing diode D4 and the relay K1 as cores controls the position controller U2, further changes the advancing direction of the robot, avoids collision between the robot and an obstacle, and also avoids the phenomenon of resource waste caused by the fact that a precise algorithm is designed to realize obstacle avoidance aiming at a small robot which repeatedly performs simple work.
Drawings
Fig. 1 is a schematic circuit diagram of the present invention.
Detailed Description
The foregoing and other technical and other features and advantages of the invention will be apparent from the following detailed description of the embodiments, which proceeds with reference to fig. 1. The structural contents mentioned in the following embodiments are all referred to the attached drawings of the specification.
Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
The robot is a small robot which only repeatedly performs simple work and comprises a photoelectric detector and a position controller, wherein the position controller exists in the robot and is responsible for analyzing a position signal transmitted by the photoelectric detector so as to obtain a navigation signal to control the advancing direction of the robot, and an amplifying voltage stabilizing circuit and a comparison trigger circuit are sequentially arranged between the photoelectric detector and the position controller;
the amplifying and voltage stabilizing circuit receives and filters position signals detected by the photoelectric detector by using a capacitor C1 and an inductor L1, amplifies the filtered position signals by using a composite amplifying tube consisting of a triode Q1 and a triode Q2, detects the existence of abnormal low-level signals and abnormal high-level signals by using a triode Q3 and a voltage-stabilizing tube D1, feeds the abnormal low-level signals and the abnormal high-level signals back to a triode Q1 and a triode Q2 to stabilize the position signals in a certain range, filters interference existing in the position signals by using an inductor L1, a varactor D1 and a capacitor C5, transmits the interference to a comparison trigger circuit, receives the position signals output by the amplifying and voltage stabilizing circuit by using a resistor R9, compares the position signals with the next-step travel distance of the robot represented by voltage division by using an operational amplifier U1B, the triode Q1 and a resistor R12, when the bidirectional trigger diode D3 turns on the thyristor SCR, it indicates that the robot does not collide with the obstacle, at this time, the amplifying and voltage-stabilizing circuit transmits a position signal that does not collide to the position memory U2 through the thyristor SCR for storage, when the zener diode D4 is turned on, it indicates that the robot collides with the obstacle, the position signal that will collide is amplified through the composite tube composed of the field-effect tube Q5 and the triode Q6, and the acceleration circuit composed of the resistor R13 and the capacitor C6 is used for accelerating the composite tube composed of the field-effect tube Q5 and the triode Q6, the amplified position signal that will collide triggers the relay K1, the relay K1 changes the pin connection state, the 3 pin of the relay receives the position signal that does not collide and is detected by other photodetectors sent from the memory U2, and the next step of the robot is changed through the position controller U2, the robot is prevented from colliding with obstacles, protection on the robot is formed, the received position signals are stabilized through an amplifying and stabilizing circuit taking a triode Q1, a triode Q2, a triode Q3 and a voltage stabilizing diode D1 as cores, the problem that navigation signals obtained due to unstable amplitude of the position signals are inaccurate is avoided, the robot is prevented from colliding with the obstacles through a comparison trigger circuit taking an operational amplifier U1B, a triode Q4, a resistor R12, a voltage stabilizing diode D4 and a relay K1 as cores, and the phenomenon that resource waste of obstacle avoidance is realized by designing a precise algorithm aiming at a small robot which repeatedly performs simple work is also avoided;
the amplifying and voltage stabilizing circuit processes a position signal received by the photoelectric detector, a high-pass filter composed of a capacitor C1 and an inductor L1 is used for receiving the position signal detected by the photoelectric detector, a capacitor C1 and an inductor L1 filter a low-frequency signal to prevent the low-frequency signal from influencing a high-frequency position signal, a resistor R1 is used for converting the current of the position signal output by the photoelectric detector into voltage and transmitting the voltage to a composite amplifier composed of a triode Q1 and a triode Q2, the position signal detected by the photoelectric detector is amplified by using the characteristic that the driving capability of the composite amplifier is stronger than that of a single triode, the capability of the position signal driving and comparing a trigger circuit is enhanced, a static working point of the composite amplifier composed of the triode Q1 and the triode Q2 is stabilized by using the capacitor C2 and the resistor R2, the amplifying effect of the position signal is further improved, and the resistor R3 is the base resistor of, providing proper base voltage for the composite amplifier, coupling the position signal amplified by the composite amplifier out through a capacitor C4, when detecting that an abnormal low level signal exists in the amplified position signal, conducting a transistor Q3, transmitting the abnormal low level signal to the base of the composite amplifier through a resistor R8 by a transistor Q3, amplifying again to improve the abnormal low level signal, when a Zener diode D1 is conducted reversely to indicate that an abnormal high level signal exists in the position signal, changing the CE junction resistance of the composite amplifier by using a resistor R5 to further change the amplification factor of the composite amplifier, reducing the abnormal high level signal to stabilize the voltage of the position signal within a certain range, providing the voltage for the collector of the composite amplifier and the emitter of the transistor Q3 by a resistor R7 of the transistor Q3, respectively providing the voltage for the collector of the composite amplifier and the resistor R4 and the resistor R6, the capacitor C3 is used for filtering ripples existing in a positive power supply VCC, an inductor L2, a varactor D2 and a capacitor C5 are used for filtering interference existing in a position signal, and the accuracy of the position signal input into the comparison trigger circuit is improved, the comparator comprises a capacitor C1, one end of a capacitor C1 is connected with a photoelectric detector, the other end of a capacitor C1 is respectively connected with one end of a resistor R1 and one end of an inductor L1, the other end of a resistor R1 is respectively connected with a base of a triode Q1, one end of a resistor R3 and one end of a resistor R8, a collector of a triode Q1 is connected with a base of a triode Q2, an emitter of a triode Q1 is respectively connected with a collector of a triode Q2, one end of a resistor R5, one end of a resistor R2 and one end of a capacitor C2, the other end of an inductor L1 is respectively connected with the other end of a capacitor C2, the other end of a resistor R2, the negative electrode of a varactor D, the other end of the resistor R3 is respectively connected with one end of a resistor R4, one end of a resistor R6 and one end of a capacitor C3, the other end of the capacitor C3 is grounded, the emitter of the triode Q2 is respectively connected with the other end of the resistor R4 and one end of the capacitor C4, the other end of the capacitor C4 is respectively connected with the base of the triode Q3, the cathode of the zener diode D1 and one end of the inductor L2, the anode of the zener diode D1 is connected with the other end of the resistor R5, the emitter of the triode Q3 is respectively connected with the other end of the resistor R6 and the other end of the resistor R8, and the collector of the triode Q3 is connected with one end of the;
the comparison trigger circuit receives the signal transmitted by the amplification and voltage stabilization circuit by using a resistor R9, and transmits the signal to a hysteresis comparator consisting of a triode Q4 and a resistor R12 which are formed by an operational amplifier U1B, the position signal at this time indicates that the distance between the robot and the obstacle, the resistor R10 and the resistor R11 form a voltage dividing circuit and outputs a divided voltage to the operational amplifier U1B through the resistor R11, the voltage represents a fixed distance to be traveled by the robot next time, when the comparator outputs a high level, turning on the diac D3, it indicates that the robot is now in a position where it is closer to the obstacle than the fixed distance the robot will travel next, namely the robot does not touch the obstacle in the next step, the bidirectional trigger diode D3 conducts the thyristor SCR, and the amplifying and comparing circuit stores the position signal on the position controller U2 through the thyristor SCR; when the result output by the comparator turns on the zener diode D4 in the forward direction, which indicates that the output of the comparator is low level, it indicates that the distance between the current position of the robot and the obstacle is greater than the fixed distance to be traveled next by the robot, and the robot will collide with the obstacle, then the accelerating circuit composed of the resistor R13 and the capacitor C6 transmits the position signal that will collide to the fet Q5 and the triode Q6, the composite tube composed of the fet Q5 and the triode Q6 amplifies the position signal that will collide, the composite tube has the advantage of low noise, the position signal that will collide is prevented from being affected, the amplified signal is output to the relay K1, the relay K1 immediately changes the pin connection state, the 5 pin of the relay K1 is connected to the 3 pin thereof, the 3 pin of the relay receives the position signal that will not collide and is detected by other photodetectors sent from the memory U2, the next advancing direction of the robot is changed through a position controller U2, so that the robot turns to the direction of position signals which are detected by other photoelectric detectors and cannot collide with an obstacle, the robot is prevented from colliding with the obstacle, and the robot is protected, wherein the position controller U2 is responsible for receiving the position signals which are detected by the other photoelectric detectors and cannot collide with the obstacle, the position signals which can not collide with the obstacle and can collide with the position signals are simultaneously detected by a plurality of photoelectric detectors on the robot, a voltage division circuit consisting of a resistor R14 and a resistor R15 is used for providing proper base voltage for a composite tube consisting of a field effect transistor Q5 and a triode Q6, a diode D5 is used for protecting a relay K1 and comprises a resistor R9, one end of the resistor R9 is respectively connected with the anode of a thyristor SCR, the other end of an inductor L2 in an amplification and voltage stabilizing circuit, the anode of a varactor D2, One end of a capacitor C5, the other end of a resistor R9 is connected with the inverting input end of an operational amplifier U1B, the non-inverting input end of the operational amplifier U1B is connected with one end of a resistor R11, one end of a resistor R10 and one end of a resistor R12 respectively, the other end of the resistor R11 is connected with the other end of a resistor R7 connected with the amplifying and voltage stabilizing circuit and grounded, the other end of a resistor R10 is connected with the collector of a triode Q4, one end of a resistor R14, the drain of a field effect transistor Q5 and the collector of a triode Q6 respectively, the output end of the operational amplifier U1B is connected with the anode of a zener diode D4, one end of a diac D3, the base of a triode Q4 and the emitter of a triode Q4 are connected with the other end of a resistor R12 respectively, the other end of a diac D3 is connected with the control electrode of a thyristor SCR, the cathode of the SCR is connected with a pin 1 of a position controller U2, One end of a capacitor C6, the other end of a resistor R13 are respectively connected with the other end of the capacitor C6, the gate of a field effect transistor Q5, the other end of a resistor R14 and one end of a resistor R15, the source of the field effect transistor Q5 is connected with the base of a triode Q6, the emitter of the triode Q6 is respectively connected with the negative electrode of a diode D5, the 1 pin of a relay K1 and the other end of the 4 pin of the relay K1 in parallel and grounded, the positive electrode of the diode D5 is respectively connected with the other end of a resistor R15 and the 2 pin of a relay K1, the 3 pin of the relay K1 is connected with the 3 pin of the position controller U2, one end of the 4 pin of the relay K1 is connected with one end of the 5 pin of the relay K1, and the other end of the 5 pin of the relay K.
When the robot position signal detection circuit is used specifically, a capacitor C1 and an inductor L1 are used for receiving position signals detected by a photoelectric detector and filtering the position signals, the filtered position signals are amplified by a composite amplifying tube consisting of a triode Q1 and a triode Q2, a triode Q3 and a voltage regulator tube D1 are used for detecting the existence of abnormal low level signals and abnormal high level signals, the abnormal low level signals and the abnormal high level signals are fed back to a triode Q1 and a triode Q2, the position signals are stabilized within a certain range, interference existing in the position signals are filtered by the inductor L1, a varactor D1 and the capacitor C5 and then transmitted to a comparison trigger circuit, the comparison trigger circuit receives the position signals output by an amplification voltage stabilizing circuit by a resistor R9, a comparator consisting of an operational amplifier U1B, a triode Q1 and a resistor R12 is used for comparing the position signals with the next step travel distance represented by the resistor R10 and the resistor R11, when the bidirectional trigger diode D3 turns on the thyristor SCR, it indicates that the robot does not collide with the obstacle, at this time, the amplifying and voltage-stabilizing circuit transmits a position signal that does not collide to the position memory U2 through the thyristor SCR for storage, when the zener diode D4 is turned on, it indicates that the robot collides with the obstacle, the position signal that will collide is amplified through the composite tube composed of the field-effect tube Q5 and the triode Q6, and the acceleration circuit composed of the resistor R13 and the capacitor C6 is used for accelerating the composite tube composed of the field-effect tube Q5 and the triode Q6, the amplified position signal that will collide triggers the relay K1, the relay K1 changes the pin connection state, the 3 pin of the relay receives the position signal that does not collide and is detected by other photodetectors sent from the memory U2, and the next step of the robot is changed through the position controller U2, avoiding collision with an obstacle;
the received position signal is subjected to voltage stabilization by using an amplifying and voltage stabilizing circuit taking a triode Q1, a triode Q2, a triode Q3 and a voltage stabilizing diode D1 as cores, so that the amplitude of the position signal is stable, the problem of inaccurate navigation signals caused by unstable amplitude of the position signal is avoided, the high-frequency response characteristic of the circuit is also improved, the robot is prevented from colliding with an obstacle by using a comparison trigger circuit taking an operational amplifier U1B, a triode Q4, a resistor R12, a voltage stabilizing diode D4 and a relay K1 as cores, and the phenomenon of resource waste caused by obstacle avoidance by designing a precise algorithm aiming at a small robot which repeatedly performs simple work is also avoided.
Claims (1)
1. The robot navigation signal processing circuit comprises a photoelectric detector and a position controller, wherein a signal detected by the photoelectric detector is transmitted to the position controller;
the amplifying and voltage stabilizing circuit comprises a capacitor C1, one end of a capacitor C1 is connected with a photoelectric detector, the other end of the capacitor C1 is respectively connected with one end of a resistor R1 and one end of an inductor L1, the other end of a resistor R1 is respectively connected with the base of a triode Q1, one end of a resistor R3 and one end of a resistor R8, the collector of a triode Q1 is connected with the base of a triode Q2, the emitter of a triode Q1 is respectively connected with the collector of a triode Q2, one end of a resistor R5, one end of a resistor R2 and one end of a capacitor C2, the other end of the inductor L2 is respectively connected with the other end of the capacitor C2, the other end of the resistor R2, the negative electrode of a varactor D2 and one end of the capacitor C2 and is connected with ground, the other end of the resistor R2 is connected with one end of the resistor R2, one end of the capacitor C2, the other end of the other end, One end of a capacitor C4, the other end of the capacitor C4 is connected with the base of a triode Q3, the cathode of a zener diode D1 and one end of an inductor L2 respectively, the anode of the zener diode D1 is connected with the other end of a resistor R5, the emitter of the triode Q3 is connected with the other end of the resistor R6 and the other end of a resistor R8 respectively, and the collector of the triode Q3 is connected with one end of a resistor R7;
the comparison trigger circuit comprises a resistor R9, one end of the resistor R9 is respectively connected with the anode of the thyristor SCR, the other end of an inductor L2 in the amplification voltage stabilizing circuit, the anode of a variable-capacitance diode D2 and one end of a capacitor C5, the other end of the resistor R9 is connected with the inverting input end of an operational amplifier U1B, the non-inverting input end of the operational amplifier U1B is respectively connected with one end of a resistor R11, one end of a resistor R10 and one end of a resistor R12, the other end of the resistor R11 is connected with the other end of a resistor R7 of the amplification voltage stabilizing circuit and is grounded, the other end of the resistor R10 is respectively connected with the collector of a triode Q4, one end of a resistor R14, the drain of a field-effect transistor Q5 and the collector of a triode Q6, the output end of the operational amplifier U1B is respectively connected with the anode of a voltage stabilizing diode D4, one end of a bidirectional trigger diode D3 and the, the other end of the bidirectional trigger diode D3 is connected with a control electrode of the thyristor SCR, the cathode of the thyristor SCR is connected with a pin 1 of the position controller U2, the cathode of the voltage-stabilizing diode D4 is respectively connected with one end of a resistor R13 and one end of a capacitor C6, the other end of the resistor R13 is respectively connected with the other end of the capacitor C6, the grid of the field-effect tube Q5, the other end of the resistor R14 and one end of the resistor R15, the source of the field-effect tube Q5 is connected with the base of the triode Q6, the emitter of the triode Q6 is respectively connected with the cathode of the diode D5, the pin 1 of the relay K1 and the other end of the pin 4 of the relay K1 and is connected with the ground, the anode of the diode D5 is respectively connected with the other end of the resistor R15 and the pin 2 of the relay K1, the pin 3 of the relay K1 is connected with the pin 3 of the position controller U, the other end of the 5 pin of the relay K1 is connected to the 2 pin of the position controller U2.
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