CN203455656U - Ground gray scale hunting device - Google Patents
Ground gray scale hunting device Download PDFInfo
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- CN203455656U CN203455656U CN201320573646.XU CN201320573646U CN203455656U CN 203455656 U CN203455656 U CN 203455656U CN 201320573646 U CN201320573646 U CN 201320573646U CN 203455656 U CN203455656 U CN 203455656U
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- gray scale
- ground
- chip microcomputer
- hunting device
- electric signal
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Abstract
The utility model provides a ground gray scale hunting device. The hunting device comprises a ground gray scale detector and a bus. The ground gray scale detector comprises a transmit-receive unit including a light emitting part and a photoelectric conversion part. The ground gray scale detector also comprises a single-chip microcomputer, and the transmit-receive unit also comprises a blocking capacitor, an operational amplifier and a rectifier module. A modulated light signal with one frequency is transmitted by the light emitting part, the light signal, after being reflected by the ground, is received and converted into an electric signal by the photoelectric conversion part, the electric signal is output to the operational amplifier via the blocking capacitor, the amplified electric signal is output to the single-chip microcomputer via the rectifier module, and the electric signal is sampled by the single-chip microcomputer and output by the bus. When the hunting device is used to integrate with a robot, hardware assembly with the robot is convenient, and hunting reliability of the robot is improved.
Description
Technical field
The utility model relates to a kind of ground gray scale hunting device, relates in particular to a kind of ground gray scale hunting device for middle and primary schools' robot competition project.
Background technology
Current middle and primary schools robot teaching contest product scope, comparatively general a kind of sports is about robot hunting, this sports is conventionally on the ground of white or black, stick the lines of opposite color, robot passes through a light emitting diode utilizing emitted light signal to ground, phototriode receives and be translated into electric signal after the light signal of ground return, for the analog port sampling of robot controller, last robot comes identification circuit to move towards by the variation of judgement ground return brightness.This kind of method, because surround lighting also can be received by phototriode by ground return, therefore can affect final electric signal reading, reduces hunting reliability.In addition, the analog signal line of a plurality of transmitting receiving elements of dispersion is mixed in together, makes between the analog signal line of inserting controller analog port easily wrong plug and produces hardware composing fault.
Utility model content
The technical problems to be solved in the utility model is in order to overcome the reflecting brightness on ground in prior art, to be subject to the mixed and disorderly defect distributing of analog signal line of ambient light effects and ground gray scale detector, a kind of jamproof hyperchannel ground gray scale hunting device is provided, and can there is not the phenomenon of mixed and disorderly distribution in the interference and the analog signal line that make robot when hunting, can not be subject to surround lighting.
The utility model solves above-mentioned technical matters by following technical proposals:
A kind of ground gray scale hunting device, comprise ground gray scale detector and a bus, described ground gray scale detector comprises a transmitting receiving element, described transmitting receiving element comprises a luminous component and a photoelectric conversion part, its feature is, described ground gray scale detector also comprises a single-chip microcomputer, described transmitting receiving element also comprises a capacitance, one operational amplifier and a rectification module, described luminous component is launched the modulated light signal of a frequency, described photoelectric conversion part receives the described light signal after ground return and is converted into electric signal, described electric signal exports described operational amplifier to by described capacitance, described electric signal after amplification is input in described single-chip microcomputer through described rectification module, sample described electric signal exporting by described bus of described single-chip microcomputer.
Light signal by luminous component transmitting is set to launch the modulated light signal of a frequency, through phototriode, receive and be converted to after electric signal, use a capacitance that the electric signal of the natural light composition of returning from ground return is filtered out, remaining modulation signal can impregnablely be exaggerated, rectification and sampling processing, thereby avoided the interference of surround lighting (as common daylight lamp, incandescent lamp, classroom surround lighting etc.), improved hunting reliability.
Preferably, described ground gray scale detector also comprises 7 described transmitting receiving elements.
Adopt a plurality of transmitting receiving elements, can gather the modulated light signal of a frequency of launching on a plurality of positions, thereby the variation of reflecting brightness on judgement a plurality of adjacent positions, ground reaches better hunting effect.
Preferably, described luminous component is light emitting diode.
Preferably, described photoelectric conversion part is phototriode.
Preferably, the PIC16F1933 of the single-chip microcomputer Wei Wei core company of described ground gray scale detector.
Preferably, described ground gray scale detector is fixed on a collection plate, and described single-chip microcomputer is electrically connected to a controller by one 485 buses.
The analog signal line of many dispersions that a plurality of transmitting receiving elements of original access controller analog port are formed, with a plurality of transmitting receiving elements after improving, be all fixed on the form on collection plate, and be electrically connected to corresponding controllers by a bus, this bus is one 485 buses, thereby avoided many situations of disperseing wrong plug between analog signal lines, also facilitated Liao Yu robot to carry out hardware composing when integrated.
Positive progressive effect of the present utility model is: this hunting device and robot carry out when integrated, only need be electrically connected to the controller of robot by a bus, facilitate the hardware composing of Liao Yu robot, in addition, by this hunting device, make robot can not be subject to the interference of surround lighting in hunting process, thereby greatly improved the reliability of robot hunting.
Accompanying drawing explanation
Fig. 1 is the structural representation of the ground gray scale hunting device of the utility model embodiment.
Fig. 2 is the radiating circuit figure of light emitting diode in the ground gray scale hunting device of the utility model embodiment.
Fig. 3 is the receiving circuit figure of phototriode in the ground gray scale hunting device of the utility model embodiment.
Fig. 4 is the PIC16F1933 model interface microcontroller schematic diagram of the ground gray scale hunting device of the utility model embodiment.
Embodiment
Lift a preferred embodiment below, and carry out by reference to the accompanying drawings the clearer the utility model that intactly illustrates.
Embodiment 1
The present embodiment provides a kind of anti-interference hyperchannel ground gray scale hunting device for middle and primary schools' robot competition project, and as shown in Figure 1, it comprises:
A ground gray scale hunting device, comprises a ground gray scale detector 1 and one 485 buses 2, and ground gray scale detector 1 comprises a transmitting receiving element 10, and transmitting receiving element 10 comprises a light emitting diode 101 and a phototriode 102.Ground gray scale detector 1 also comprises a PIC16F1933 model single-chip microcomputer 11, and the interface schematic diagram of this single-chip microcomputer 11 can be as shown in Figure 4.Transmitting receiving element 10 also comprises a capacitance 103, an operational amplifier 104 and a rectification module 105.Light emitting diode 101 produces 1khz oscillator signal by another single-chip microcomputer Timer Controlling, and another triode amplifies rear drive light emitting diode 101 by this oscillator signal and produces the white light of band modulation, and wherein the radiating circuit figure of light emitting diode 101 can be as shown in Figure 2.Phototriode 102 receives the white light after ground return and is translated into electric signal, and wherein a voltage stabilizing diode is in parallel with phototriode 102, makes phototriode 102 can not enter state of saturation.Described electric signal inputs to operational amplifier 104 after being filtered out by capacitance 103 is rear the electric signal that contains surround lighting composition, and the enlargement factor of operational amplifier 104 is set as 51 times.Described electric signal after being amplified by operational amplifier 104 is filtered into direct current signal through the rectification module consisting of another diode, another electric capacity, a resistance, and the receiving circuit figure of phototriode 102 receiving optical signals can be as shown in Figure 3.This direct current signal is input in an analog to digital conversion passage of single-chip microcomputer 11, and single-chip microcomputer 11 reads this direct current signal reading, and 485 buses 2 that this reading is consisted of single-chip microcomputer 11 serial ports send to a controller.
Because ground gray scale detector 1 can also comprise 7 transmitting receiving elements 10, therefore this ground gray scale detector 1 is fixed on a collection plate.When this ground gray scale hunting device and a movable object carry out when integrated, Yi Yu robot is integrated into example, 8 transmitting receiving elements of this ground gray scale hunting device detect the ground return brightness of 8 Different Ground positions, and the brightness detecting is changed into corresponding electric signal reading, then 8 readings are sent to together to 8 analog to digital conversion passage AD0-AD7(analog to digital conversion passage 0-7 of single-chip microcomputer 11) in.The reading that single-chip microcomputer 11 gathers in 8 analog to digital conversion passages, 485 communication port that are then comprised of single-chip microcomputer 11 serial ports are sent to the controller of a robot.The controller of this robot starts real-time hunting behavior according to the electric signal reading that contains ground half-tone information being transferred to and the variation of reading.
Although more than described embodiment of the present utility model, it will be understood by those of skill in the art that this only illustrates, protection domain of the present utility model is limited by appended claims.Those skilled in the art is not deviating under the prerequisite of principle of the present utility model and essence, can make various changes or modifications to these embodiments, but these changes and modification all fall into protection domain of the present utility model.
Claims (6)
1. a ground gray scale hunting device, comprise ground gray scale detector and a bus, described ground gray scale detector comprises a transmitting receiving element, described transmitting receiving element comprises a luminous component and a photoelectric conversion part, it is characterized in that, described ground gray scale detector also comprises a single-chip microcomputer, described transmitting receiving element also comprises a capacitance, one operational amplifier and a rectification module, described luminous component is launched the modulated light signal of a frequency, described photoelectric conversion part receives the described light signal after ground return and is converted into electric signal, described electric signal exports described operational amplifier to by described capacitance, described electric signal after amplification is input in described single-chip microcomputer through described rectification module, sample described electric signal exporting by described bus of described single-chip microcomputer.
2. gray scale hunting device in ground as claimed in claim 1, is characterized in that, described ground gray scale detector also comprises 7 described transmitting receiving elements.
3. gray scale hunting device in ground as claimed in claim 1, is characterized in that, described luminous component is light emitting diode.
4. gray scale hunting device in ground as claimed in claim 1, is characterized in that, described photoelectric conversion part is phototriode.
5. gray scale hunting device in ground as claimed in claim 1, is characterized in that, the PIC16F1933 of the single-chip microcomputer Wei Wei core company of described ground gray scale detector.
6. the ground gray scale hunting device as described in any one in claim 1-5, is characterized in that, described ground gray scale detector is fixed on a collection plate, and described single-chip microcomputer is electrically connected to a controller by one 485 buses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320573646.XU CN203455656U (en) | 2013-09-16 | 2013-09-16 | Ground gray scale hunting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320573646.XU CN203455656U (en) | 2013-09-16 | 2013-09-16 | Ground gray scale hunting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203455656U true CN203455656U (en) | 2014-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320573646.XU Expired - Fee Related CN203455656U (en) | 2013-09-16 | 2013-09-16 | Ground gray scale hunting device |
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| CN (1) | CN203455656U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113075134A (en) * | 2021-03-22 | 2021-07-06 | 深圳市德明新微电子有限公司 | Target material analysis method and device applied to sweeper |
-
2013
- 2013-09-16 CN CN201320573646.XU patent/CN203455656U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113075134A (en) * | 2021-03-22 | 2021-07-06 | 深圳市德明新微电子有限公司 | Target material analysis method and device applied to sweeper |
| CN113075134B (en) * | 2021-03-22 | 2023-12-26 | 深圳市德明新微电子有限公司 | Target material analysis method and device applied to sweeper |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140226 Termination date: 20200916 |