CN201097212Y - Infrared intelligent obstacle adjuster for robot - Google Patents
Infrared intelligent obstacle adjuster for robot Download PDFInfo
- Publication number
- CN201097212Y CN201097212Y CNU2007200453971U2007200453971U CN200720045397U CN201097212Y CN 201097212 Y CN201097212 Y CN 201097212Y CN U2007200453971U2007200453971 U CNU2007200453971U2007200453971 U CN U2007200453971U2007200453971U CN 200720045397 U CN200720045397 U CN 200720045397U CN 201097212 Y CN201097212 Y CN 201097212Y
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- Prior art keywords
- infrared
- schmidt trigger
- schmitt trigger
- resistance
- robot
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- 239000013078 crystal Substances 0.000 claims abstract description 7
- 230000003534 oscillatory effect Effects 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 4
- 239000003990 capacitor Substances 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
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Abstract
The utility model relates to a robot infrared intelligent obstacle-avoidance regulator. An oscillating circuit is composed of a crystal, an A capacitor, a B capacitor, and a first inverted Schmitt trigger, the output terminal of the circuit is connected with the input terminal of a second inverted Schmitt trigger, the output terminal of the second inverted Schmitt trigger is connected with the input terminal of a third inverted Schmitt trigger, the output terminal of the third inverted Schmitt trigger is connected with the variable resistance value low voltage end of a digital potentiometer, the variable resistance value sliding end of the digital potentiometer is connected with the base electrode of a crystal triode, the emitting electrode of the crystal triode is mutually connected with the negative electrode of an infrared transmitting tube through a current limiting resistor, the input terminal of the third inverted Schmitt trigger is connected with the positive terminal of a diode, and the negative terminal of the diode is connected with the output port of a single-chip microcomputer. The obstacle-avoidance regulator has the advantages that when the external environment changes, the resistance value accessed into the circuit is adjusted through the figure controlling potentiometer of the single-chip microcomputer in time, according to the change of the environment, and the intensity of an infrared pulse emitting bundle is newly adjusted to be adapted to the changed environment, in order that the robot infrared obstacle-avoidance has higher robustness.
Description
Technical field:
The utility model relates to a kind of robot that can make automatically to the infrared obstacle avoidance distance, carry out the robot infrared intelligent of intelligence adjusting and keep away the barrier regulator, belong to the Robotics field.
Background technology:
In robot fire extinguishing match, we find that the variation of external environment is bigger to the influence of robot infrared obstacle avoidance.The parameter that mixes up evening, under the environmental baseline by day, robot then can not normally move; And the parameter of debugging in the morning, the external environment in afternoon also is not suitable for.Mainly because the infrared obstacle avoidance sensor environmental change is relatively responsive to external world causes.At present, the robot that the robot that reaches as Shanghai Guang Mao makes, the adjusting control of its infrared obstacle avoidance range detection sensor, realize (as shown in Figure 1) by regulating variable potentiometer, it is by crystal X2, A capacitor C 3, B capacitor C 4 and first reverse Schmidt trigger U3A (model 74HC14) form oscillatory circuit, the input end of second reverse Schmidt trigger U3B of output termination of this oscillatory circuit, the input end of the 3rd the reverse Schmidt trigger U3C of output termination of second reverse Schmidt trigger U3B, the end of the output termination variable potentiometer VR1 of the 3rd reverse Schmidt trigger U3C, another termination power of variable potentiometer VR1, the wiping point of variable potentiometer VR1 connects the base stage of transistor Q1, and the emitter of transistor Q1 joins by the negative pole of current-limiting resistance R12 and infrared transmitting tube LED.Because oppositely Schmidt trigger itself has the schmidt trigger function, so frequency is relatively stable.Signal passes through the shaping filter of the reverse Schmidt trigger of two-stage more then, has guaranteed the absolute stability of 38kHz frequency; Potentiometer VR1 plays the base current of restriction transistor Q1, thus the electric current of control infrared transmitting tube, the i.e. intensity of infrared pulse.At this time infrared transmitting tube LED launches the pulsed beams of 38kHz.Resistance R 12 plays metering function.On plaing, resistance R 10 draws anti-interference effect.Resistance one timing in variable potentiometer VR1 place in circuit, the intensity of the infrared pulse bundle that infrared transmitting tube is launched is certain.Cause the intensity of reflective infrared pulse that variation has been arranged when external environment changes, and make infrared receiving tube HS0038 can not correctly receive the infrared pulse bundle.This kind design on the one hand, is not easy to regulate; On the other hand, when external environment has had variation, the original parameter that is provided with just can not adapt to the environment that has changed, and shows as a little less than the robustness of robot infrared obstacle avoidance detection range.
Summary of the invention
The purpose of this utility model is intended to overcome the defective that prior art exists, propose a kind of robot infrared intelligent and keep away the barrier regulator, it can select for use digital regulation resistance to replace traditional mechanical type potentiometer, by the Single-chip Controlling digital regulation resistance, and adjust the value of setting of digital regulation resistance in time according to the variation of external environment, make robot can according to the variation of external environment " open eyes wide or open pigsney " see.
Technical solution of the present utility model: its structure is by crystal, A electric capacity, B electric capacity and first reverse Schmidt trigger are formed oscillatory circuit, the input end of second reverse Schmidt trigger of output termination of this oscillatory circuit, the input end of the 3rd the reverse Schmidt trigger of output termination of second reverse Schmidt trigger, the change resistance low-voltage end of the output termination digital regulation resistance of the 3rd reverse Schmidt trigger, the change resistance sliding end of digital regulation resistance inserts the base stage of transistor, the emitter of transistor joins by the negative pole of current-limiting resistance and infrared transmitting tube, the anode of the input terminating diode of the 3rd reverse Schmidt trigger, the negative terminal of diode connects single machine output end.
Advantage of the present utility model: when external environment changes, in time adjust resistance value in the place in circuit by the Single-chip Controlling digital regulation resistance, the intensity of readjusting the infrared pulse transmitted beam according to the variation of environment adapts to the environment that has changed, and makes the robot infrared obstacle avoidance have higher robustness.
Description of drawings
Accompanying drawing 2 is schematic diagrams of infrared receiving tube.
Accompanying drawing 3 is electrical block diagrams of the present utility model.
Embodiment
Contrast Fig. 2, infrared receiving tube HS0038 can only receive 38KHz's and infrared pulse, when the infrared pulse bundle of 38KHz frequency was received by HS0038, the output pin output low level of infrared receiving tube HS0038 was given single-chip microcomputer SPCE061A, otherwise the output high level is given single-chip microcomputer SPCE061A.
Contrast Fig. 3, its structure is by crystal X2, A capacitor C 3, B capacitor C 4 and first reverse Schmidt trigger U3A (model 74HC14) form oscillatory circuit, the input end of second reverse Schmidt trigger U3B of the output termination of this oscillatory circuit (model 74HC14), the input end of the 3rd the reverse Schmidt trigger U3C of output termination of second reverse Schmidt trigger U3B, the change resistance low-voltage end VL end of the output termination digital regulation resistance U2 (model X9312Z) of the 3rd reverse Schmidt trigger U3C (model 74HC14), the change resistance sliding end VW of digital regulation resistance U2 inserts the base stage of transistor Q1, the emitter of transistor Q1 connects with the negative pole of infrared transmitting tube LED mutually by current-limiting resistance R12, the anode of the input terminating diode D2 of the 3rd reverse Schmidt trigger U3B, the negative terminal of diode D2 meets the output terminal IOB4. of single-chip microcomputer SPCE061A
During work, during the IOB4 of single-chip microcomputer SPCE061A output high level, the 3rd reverse Schmidt trigger U3C do not exerted an influence; The circuit operate as normal; Infrared transmitting tube produces the infrared pulse bundle of 38kHz frequency.During the IOB4 output low level of single-chip microcomputer SPCE061A, the 3rd reverse Schmidt trigger U3C input end is low level all the time, and then not conducting of infrared transmitting tube does not produce the infrared pulse bundle of 38kHz frequency.
Digital regulation resistance (X9312Z) has three ingredients: electric resistance array; Nonvolatile memory; Input control, counter, code translator.The electric resistance array band temperature compensation of digital regulation resistance (X9312Z) comprises 99 resistance units, between per two resistance units and two end points the tapping point that can be visited by sliding unit is all arranged.The position of sliding unit is controlled by three input ends.When digital regulation resistance X9312Z is selected by sheet, when adding by the hypermutation low level, input end will increase or reduce the value of (state that this depends on control port) 7 digit counters, the output of counter is decoded, carries out 100 and selects one operation, and the position of sliding end is moved along electric resistance array.The value of counter can not skip to complete 1 from complete 0, can not skip to entirely 0 from complete 1 yet, so sliding end arrives of electric resistance array and can not skip to that another is extreme and move in circles when extreme.The position of sliding end can be stored in the nonvolatile memory, thereby can call again when working on power next time.The resolution of X9312Z equals the resistance value of maximum divided by 99.For example the resistance between per two taps of digital regulation resistance X9312Z (1000 Ω) is 10.1 Ω, and its minimum resistance is 40 Ω.
When single-chip microcomputer receives control command, just regulate digital regulation resistance X9312 automatically by programmed control, make the descending variation of resistance value in the place in circuit, so the infrared pulse beam intensity that infrared transmitting tube sends is changed from small to big, when infrared receiving tube HS0038 can correctly receive the infrared external reflection pulsed beams, control the infrared transmitting tube transponder pulse by this up-to-date numerical value.
Claims (1)
1, the robot infrared intelligent is kept away the barrier regulator, it is characterized in that by crystal, A electric capacity, B electric capacity and first reverse Schmidt trigger are formed oscillatory circuit, the input end of second reverse Schmidt trigger of output termination of this oscillatory circuit, the input end of the 3rd the reverse Schmidt trigger of output termination of second reverse Schmidt trigger, the change resistance low-voltage end of the output termination digital regulation resistance of the 3rd reverse Schmidt trigger, the change resistance sliding end of digital regulation resistance inserts the base stage of transistor, the emitter of transistor joins by the negative pole of current-limiting resistance and infrared transmitting tube, the anode of the input terminating diode of the 3rd reverse Schmidt trigger, the negative terminal of diode connects single machine output end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200453971U2007200453971U CN201097212Y (en) | 2007-08-29 | 2007-08-29 | Infrared intelligent obstacle adjuster for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200453971U2007200453971U CN201097212Y (en) | 2007-08-29 | 2007-08-29 | Infrared intelligent obstacle adjuster for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201097212Y true CN201097212Y (en) | 2008-08-06 |
Family
ID=39924265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200453971U2007200453971U Expired - Fee Related CN201097212Y (en) | 2007-08-29 | 2007-08-29 | Infrared intelligent obstacle adjuster for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201097212Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103676950A (en) * | 2013-04-01 | 2014-03-26 | 常熟理工学院 | Medical service robot with voice control |
| CN106056895A (en) * | 2016-07-21 | 2016-10-26 | 国家电网公司 | 485-infrared conversion circuit and method for transmitting data |
| CN109725582A (en) * | 2019-01-25 | 2019-05-07 | 南京品畅科技发展有限公司 | A kind of circuit and method of the control infrared induction distance based on digital regulation resistance |
-
2007
- 2007-08-29 CN CNU2007200453971U2007200453971U patent/CN201097212Y/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103676950A (en) * | 2013-04-01 | 2014-03-26 | 常熟理工学院 | Medical service robot with voice control |
| CN106056895A (en) * | 2016-07-21 | 2016-10-26 | 国家电网公司 | 485-infrared conversion circuit and method for transmitting data |
| CN106056895B (en) * | 2016-07-21 | 2021-11-16 | 国家电网公司 | 485-to-infrared circuit and data transmission method |
| CN109725582A (en) * | 2019-01-25 | 2019-05-07 | 南京品畅科技发展有限公司 | A kind of circuit and method of the control infrared induction distance based on digital regulation resistance |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080806 Termination date: 20090929 |