CN202854332U

CN202854332U - Ultrasonic sensor obstacle avoidance distribution structure

Info

Publication number: CN202854332U
Application number: CN 201220347464
Authority: CN
Inventors: 肖骥
Original assignee: Chengdu Siwi High Tech Industrial Park Co Ltd
Current assignee: Chengdu Siwi High Tech Industrial Park Co Ltd
Priority date: 2012-11-30
Filing date: 2012-11-30
Publication date: 2013-04-03
Anticipated expiration: 2022-11-30

Abstract

The utility model discloses an ultrasonic sensor obstacle avoidance distribution structure and relates to the field of obstacle avoidance structural design. The structure provided by the utility model comprises four ultrasonic sensors arranged on a robot, and the ultrasonic sensors distributed from the left to the right are respectively a sensor A, a sensor B, a sensor C and a sensor D. The installation angle of the sensor A and the sensor D is 20 degrees, namely the angle between the centre line of the sensor A and the sensor D and the horizontal plane is 20 degrees. The installation angle of the sensor B and the sensor C is 70 degrees, namely the angle between the centre line of the sensor B and the sensor C and the horizontal plane is 70 degrees. By the adoption of the ultrasonic sensors, obstacles within 180 degrees in front of the robot are monitored at real time so as to realize requirements on obstacle avoidance in motion. On one hand, the number of the sensors is controlled to reasonably reduce the cost; and on the other hand, obstacle avoidance range required in the motion of the robot is covered.

Description

Ultrasonic sensor is kept away the barrier distributed architecture

Technical field

The utility model relates to art of ultrasound, and particularly a kind of ultrasonic sensor is kept away the barrier distributed architecture.

Background technology

Ultrasonic sensor applies to the measurement that robot adjusts the distance in a large number in motion process, but because the characteristic of device and the restriction of reflection angle, obstacle not all in its emission angle can both be measured, therefore most of robots all adopt peaceful many not few principles in use, improved cost on the one hand, on the other hand in the outward appearance that has also affected robot.So under the condition that allows, need to propose a kind of number of sensors and and distributed architecture that is fit to this robot.

The utility model content

Goal of the invention of the present utility model is: for the problem of above-mentioned existence, provide a kind of ultrasonic sensor to keep away the barrier distributed architecture, adopt less sensor to reach same effect, and reduce cost.

The technical solution adopted in the utility model is such: a kind of ultrasonic sensor is kept away the barrier distributed architecture, comprise being arranged at robot four ultrasonic sensors with it that the ultrasonic sensor of arranging from left to right is respectively sensors A, sensor B, sensor C and sensor D; The setting angle of sensors A and sensor D is 20 degree, and namely the center line of sensors A and sensor D and horizontal plane angle are 20 degree; The setting angle of sensor B and sensor C is 70 degree, and namely the center line of sensor B and sensor C and horizontal plane angle are 70 degree.

In sum, owing to adopted technique scheme, the beneficial effects of the utility model are: adopt ultrasonic sensor Real-Time Monitoring robot the place ahead 180 degree obstacles, realize in the motion keeping away the requirement of barrier, controlled on the one hand the quantity of sensor, rationally reduce cost, covered on the other hand the needed barrier scope of keeping away among the robot motion.

Description of drawings

Fig. 1 is the distributed architecture synoptic diagram of ultrasonic sensor;

Fig. 2 is ultrasonic sensor Distribution Principle key diagram.

Embodiment

Below in conjunction with accompanying drawing, the utility model is described in detail.

If need robot to sense the place ahead 180 degree, the interior all obstacles of 3m scope, according to this requirement and above-mentioned test result, the mounting structure that design is following, as shown in Figure 1:

According to principle of reflection, when ray and surface are angled, reflected ray also can become with the surface same angle, therefore when ultrasonic sensor axis and metope angle are spent less than 60, reflection wave can't turn back to ultrasonic sensor, ultrasonic sensor will lose efficacy, think the distance that guarantees to detect the robot left and right sides, must allow the ultrasonic sensor of both sides and the angle of side spend greater than 60, therefore the setting angle of both sides ultrasonic sensor is 20 degree, and namely the center line of sensors A and sensor D and horizontal plane angle are 20 degree; For satisfying the scope that covers the place ahead 180 degree:

The angle of coverage of single ultrasonic sensor is 60 degree, therefore also need 2 ultrasonic sensors, be similarly the validity that guarantees reflection wave, the installation angle of each ultrasonic sensor is 70 degree, and namely the center line of sensor B and sensor C and horizontal plane angle are 70 degree.

According to the distribution angle of 4 ultrasonic sensors, carry out the calculating of blind area, as shown in Figure 2:

The angle of dotted line analog ultrasonic wave sensor signal among the figure, can find out that left and right sides ultrasonic sensor has the blind area of 152mm, middle ultrasonic sensor has the blind area of 85mm, because the surveying range of this ultrasonic sensor is 150mm ~ 60000mm (ultrasonic sensor technical indicator), the blind area of 152mm and 85mm not ultrasonic to indication range in, therefore should design satisfy that 180 degree cover and the requirement of all obstacle detections of the place ahead.

The above only is preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of within spirit of the present utility model and principle, doing, be equal to and replace and improvement etc., all should be included within the protection domain of the present utility model.

Claims

1. a ultrasonic sensor is kept away the barrier distributed architecture, it is characterized in that: comprise being arranged at robot four ultrasonic sensors with it that the ultrasonic sensor of arranging from left to right is respectively sensors A, sensor B, sensor C and sensor D; The setting angle of sensors A and sensor D is 20 degree, and namely the center line of sensors A and sensor D and horizontal plane angle are 20 degree; The setting angle of sensor B and sensor C is 70 degree, and namely the center line of sensor B and sensor C and horizontal plane angle are 70 degree.