CN205899379U - Obstacle detection circuit of robot - Google Patents
Obstacle detection circuit of robot Download PDFInfo
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- CN205899379U CN205899379U CN201620574191.7U CN201620574191U CN205899379U CN 205899379 U CN205899379 U CN 205899379U CN 201620574191 U CN201620574191 U CN 201620574191U CN 205899379 U CN205899379 U CN 205899379U
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- 238000001514 detection method Methods 0.000 title claims abstract description 21
- 230000009977 dual effect Effects 0.000 claims abstract description 7
- 230000004888 barrier function Effects 0.000 claims description 36
- 230000009514 concussion Effects 0.000 claims description 22
- 230000005611 electricity Effects 0.000 claims description 9
- 238000002604 ultrasonography Methods 0.000 claims description 2
- 230000005693 optoelectronics Effects 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 3
- 210000001367 artery Anatomy 0.000 description 2
- 239000011551 heat transfer agent Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model discloses an obstacle detection circuit of robot, it includes the power, the ultrasonic wave vibrates the circuit, ultrasonic sensor, the pulse oscillator, optoelectronic coupler, single -chip control circuit, camera and motor, the ultrasonic wave shakes output termination in ultrasonic sensor's the input of circuit, ultrasonic sensor's output termination in single -chip control circuit's input, output termination in optoelectronic coupler's the input of pulse oscillator, optoelectronic coupler's output termination in single -chip control circuit's input, single -chip control circuit's output termination in the input of motor, camera and single -chip control circuit both way junction, the power is the power supply of above -mentioned module, wherein, the pulse oscillator adopts the dual time base timer to realize.
Description
Technical field
This utility model is related to the manufacture field of the control circuit of robot, especially a kind of obstacle detection of robot
Circuit.
Background technology
With scientific and technological development, robot has been increasingly becoming a kind of emerging popular research field, and people are grinding always
Study carefully and how to allow robot replace manpower to complete various work.Do not have on the body of robot intelligent cell only have actuator and
Induction mechanism, it has, and using heat transfer agent, (inclusion vision, audition, tactile, close feel, power are felt and infrared, ultrasonic and laser
Deng) carry out heat transfer agent process, realize controlling the ability with operation.General, robot is also controlled by outer computer, outside
Intelligent processing unit is had on portion's computer, locates the various information of reason controlled machine people collection and the various of robot itself
The information such as attitude and track, then sends the action of control instruction robot command.
Wherein, how to allow robot automatic obstacle-avoiding choose suitable route and move on, be a very complicated problem,
Existing technology has been proposed for numerous solutions, however, these schemes are on the one hand very complicated and being difficult to and popularizes, and
And making the cost of whole robot become very high, the precision on the other hand hiding obstacle is not also high, is difficult to meet user
More and more high demand, also results in robot and cannot popularize on a large scale always.
Utility model content
Therefore, for above-mentioned problem, the utility model proposes a kind of robot barrier detection circuit, to existing machine
The obstacle detection circuit of people improves, and makes the detection of barrier more sensitive, and does not increase cost, in addition hinders in automatic dodging
Moreover it is possible to the distance and bearing of accurate disturbance in judgement thing while hindering, for further direct of travel perfecting program, thus solving existing
There is the deficiency of technology.
In order to solve above-mentioned technical problem, this utility model be employed technical scheme comprise that, a kind of robot barrier detects
Circuit, including power supply, ultrasonic wave concussion circuit, ultrasonic sensor, pulse oscillator, photoelectrical coupler, Single-chip Controlling electricity
Road, photographic head and motor, the output of ultrasonic wave concussion circuit is terminated at the input of ultrasonic sensor, ultrasonic sensor
Output is terminated at the input of single chip machine controlling circuit, and the output of pulse oscillator is terminated at the input of photoelectrical coupler, light
The output of electric coupler is terminated at the input of single chip machine controlling circuit, and the output of single chip machine controlling circuit is terminated at the defeated of motor
Enter end；Photographic head is bi-directionally connected with single chip machine controlling circuit；Power supply is ultrasonic wave concussion circuit, ultrasonic sensor, pulse are shaken
Swing device, photoelectrical coupler, single chip machine controlling circuit, photographic head and motor to power.Ultrasonic wave concussion circuit produces oscillator signal and drives
Ultrasonic pulse launched by dynamic ultrasonic sensor, and receives reflected signal, and reflected signal is sent to single chip machine controlling circuit；Arteries and veins
The pulse signal rushing agitator output drives photoelectrical coupler work, and photoelectrical coupler sends testing result to Single-chip Controlling
Circuit；Photographic head carries out shooting the picture of barrier under the control of single chip machine controlling circuit, and is sent to Single-chip Controlling electricity
Road is processed, and last single chip machine controlling circuit is according to the judged result of ultrasonic sensor and photoelectrical coupler and photographic head
The barrier picture shooting carrys out motor and executes corresponding course.
Further, this robot barrier detection circuit also includes modulation circuit, and the input of modulation circuit is terminated at ultrasonic
The outfan of ripple oscillating circuit, the output of modulation circuit is terminated at the input of ultrasonic sensor.Modulation circuit is located at ultrasonic
Between ripple oscillating circuit and ultrasonic sensor, modulation circuit is used for send after the signal modulation of ultrasonic wave concussion circuit output
To ultrasonic sensor.
Specifically, ultrasonic wave concussion circuit produces the signal of predeterminated frequency (such as 60khz) through ultrasonic wave modulation circuit tune
Ultrasonic sensor transmitting ultrasonic pulse is driven, ultrasonic pulse produces reflection after running into obstacle, and feeds back to ultrasonic sensing after system
Device, ultrasonic sensor determines whether the distance of obstacle and barrier by reflected signal.
Preferably, described ultrasonic sensor is provided with multiple, and is respectively arranged at the different position of robot, for example up and down
The positions such as left and right.
Warn for convenience, this robot barrier detection circuit also includes sound/light cue circuit, and (sound cue circuit or light carry
Show circuit or acousto-optic hint circuit), the input of sound/light cue circuit is terminated at the outfan of single chip machine controlling circuit.
Further, described single chip machine controlling circuit adopts the chip microcontroller of model ht66fu70a, Single-chip Controlling
Circuit receives the analogue signal of sensor (ultrasonic sensor and photoelectrical coupler), and is converted into digital signal, leads to
Cross and compare the result that ultrasonic sensor and photoelectrical coupler send, disturbance in judgement thing whether there is and distance.
Further, described pulse oscillator adopts dual time base intervalometer to realize, the dual time base of such as model ne556n
Intervalometer, acts not only as producing the agitator of pulse signal moreover it is possible to use as intervalometer.
Preferably, described motor can be realized using motor.
This utility model passes through such scheme, by ultrasonic sensor and photoelectrical coupler double check barrier, and
Result is sent and is judged to single-chip microcomputer, and the barrier photo being shot by photographic head come the size of disturbance in judgement thing and is advised
Draw route so as to can accurate avoiding barrier；The distance of barrier can be accurately obtained using ultrasonic sensor, make the single-chip microcomputer can
Plan the course of next step according to distance；Using photoelectrical coupler, make the detection of barrier more sensitive；Using double when
Base intervalometer, as pulse oscillator, not only can produce pulse signal moreover it is possible to use as intervalometer.This utility model structure
Simply, with low cost, and detect sensitive, it is easy to accomplish and promote, there is good practicality.
Brief description
Fig. 1 is the theory diagram of embodiment 1 of the present utility model；
Fig. 2 is the theory diagram of embodiment 2 of the present utility model；
Fig. 3 is the theory diagram of embodiment 3 of the present utility model.
Specific embodiment
In conjunction with the drawings and specific embodiments, this utility model is further illustrated.
The circuit of the automatic obstacle-avoiding of existing robot, is usually struck and has barrier in front of could judging, and can not
Know in advance, simultaneously the ratio of precision of its avoiding barrier relatively low so that robot can not accurately take precautions against and avoid barrier.This reality
Exactly the problems referred to above are solved with new, realize a kind of obstacle detection accurate robot barrier detection circuit.
Embodiment 1
Specifically, referring to Fig. 1, in the present embodiment, a kind of robot barrier detection circuit, including power supply, ultrasonic wave concussion
Circuit, ultrasonic sensor, pulse oscillator, photoelectrical coupler, single chip machine controlling circuit, photographic head and motor, ultrasound wave shakes
The output swinging circuit is terminated at the input of ultrasonic sensor, and the output of ultrasonic sensor is terminated at single chip machine controlling circuit
Input, the output of pulse oscillator is terminated at the input of photoelectrical coupler, and the output of photoelectrical coupler is terminated at monolithic
The input of machine control circuit, the output of single chip machine controlling circuit is terminated at the input of motor；Photographic head and Single-chip Controlling
Circuit is bi-directionally connected；Power supply is ultrasonic wave concussion circuit, ultrasonic sensor, pulse oscillator, photoelectrical coupler, single-chip microcomputer control
Circuit processed, photographic head and motor are powered.Ultrasonic wave concussion circuit produces oscillator signal and drives ultrasonic sensor to launch ultrasonic arteries and veins
Punching, and receive reflected signal, and reflected signal is sent to single chip machine controlling circuit；The pulse signal of pulse oscillator output drives
Dynamic photoelectrical coupler work, photoelectrical coupler sends testing result to single chip machine controlling circuit；Photographic head is in Single-chip Controlling
Shoot barrier photo under the control of circuit, and shooting result is sent to single chip machine controlling circuit；Last Single-chip Controlling electricity
Road is according to the judged result of ultrasonic sensor and photoelectrical coupler, and the shooting result of photographic head to be formulating course,
And then motor executes corresponding course.
Embodiment 2
In the present embodiment, referring to Fig. 2, except all circuit modules of embodiment 1, this robot barrier detection circuit is also wrapped
Include modulation circuit harmony/light cue circuit.
Located between ultrasonic wave concussion circuit and ultrasonic sensor, modulation circuit is used for ultrasonic wave concussion modulation circuit
Send to ultrasonic sensor after the signal modulation of circuit output.Sound/light cue circuit is sound cue circuit or light cue circuit
Or acousto-optic hint circuit, the input of sound/light cue circuit is terminated at the outfan of single chip machine controlling circuit.Sound/light prompting electricity
Road can be realized using existing chip, also can simply adopt existing alarm device to realize.
Embodiment 3
In the present embodiment, referring to Fig. 3, ultrasonic sensor is provided with two.Specifically, this robot barrier detection circuit,
Including power supply, the first ultrasonic wave concussion circuit, the first modulation circuit, the first ultrasonic sensor, the second ultrasonic wave concussion circuit,
Second modulation circuit, the second ultrasonic sensor, pulse oscillator, photoelectrical coupler, single chip machine controlling circuit and motor, first
The output of ultrasonic wave concussion circuit is terminated at the input of the first modulation circuit, and the output of the first modulation circuit is terminated at and the first surpasses
The input of sonic sensor, the output of the second ultrasonic wave concussion circuit is terminated at the input of the second modulation circuit, the second tune
The output of circuit processed is terminated at the input of the second ultrasonic sensor, the first ultrasonic sensor and the second ultrasonic sensor
Outfan be all connected to the input of single chip machine controlling circuit, the output of pulse oscillator is terminated at the input of photoelectrical coupler
End, the output of photoelectrical coupler is terminated at the input of single chip machine controlling circuit, and the output of single chip machine controlling circuit is terminated at electricity
The input of machine；Power supply is above-mentioned first ultrasonic wave concussion circuit, the first modulation circuit, the first ultrasonic sensor, the second surpasses
Sound wave shock circuit, the second modulation circuit, the second ultrasonic sensor, pulse oscillator, photoelectrical coupler, Single-chip Controlling electricity
Road and motor are powered.Certainly ultrasonic sensor also can be provided with multiple, ultrasonic wave concussion circuit and modulation circuit also relative set
Have multiple.Multiple ultrasonic sensors can be respectively arranged at the different position of robot, for example the position such as up and down, so
When running into barrier, the distance of the reflected signal disturbance in judgement thing that single chip machine controlling circuit can be fed back by each ultrasonic sensor
Size substantially, so that the more preferable motor of single chip machine controlling circuit is advanced to a certain orientation.
This utility model passes through ultrasonic sensor and photoelectrical coupler double check barrier, and result is sent to list
Piece machine is judged, single-chip microcomputer can arrange and judge have barrier Ze Shi robot to be hidden when any sensor, may also set up
Both of which judges have and is just hidden during barrier, thus meeting the demand of different user, and can accurate avoiding barrier.
When implementing, pulse oscillator adopts dual time base intervalometer to realize, and the dual time base of such as model ne556n is fixed
When device.Motor can be realized using motor.Single chip machine controlling circuit can adopt the chip microcontroller of model ht66fu70a,
Single chip machine controlling circuit at least includes analog-digital converter, comparator and computer, and single chip machine controlling circuit receives the mould of sensor
Intend signal, by analog-digital converter and be converted into digital signal, ultrasonic sensor and photoelectricity are compared by comparator
The result that bonder sends, thus disturbance in judgement thing whether there is, calculates, by computer, the reflection that ultrasonic sensor is sent
Signal is calculating obstacle distance.
When using this robot barrier detection circuit, ultrasonic wave concussion circuit produces predeterminated frequency (such as 60khz)
Signal drives ultrasonic sensor transmitting ultrasonic pulse after the modulation of ultrasonic wave modulation circuit, and ultrasonic pulse produces after running into obstacle
Reflection, and feed back to sonac, ultrasonic sensor sends pulse signal and reflected signal to single chip machine controlling circuit
To determine whether the distance of obstacle and barrier.Meanwhile, the default vibration of a time base circuit composition of dual time base intervalometer
The pulse oscillator of frequency (such as 1000hz), drives photoelectrical coupler, and photoelectrical coupler will determine that result sends to single-chip microcomputer
Control circuit；According to signal that is pre-conditioned and receiving, single chip machine controlling circuit judges whether front has obstacle, if front
Side does not have obstacle, and then controlled motor continues on, if there is obstacle in front, is pointed out by sound/light cue circuit, and root
Predetermined set according to single chip machine controlling circuit switches course.
Although specifically show and describe this utility model in conjunction with preferred embodiment, those skilled in the art should
This is understood, in the spirit and scope of the present utility model being limited without departing from appended claims, in form and details
On this utility model can be made a variety of changes, be protection domain of the present utility model.
Claims (5)
1. a kind of robot barrier detection circuit it is characterised in that: include power supply, ultrasonic wave concussion circuit, ultrasonic sensor,
Pulse oscillator, photoelectrical coupler, single chip machine controlling circuit, photographic head and motor, the output of ultrasonic wave concussion circuit is terminated at
The input of ultrasonic sensor, the output of ultrasonic sensor is terminated at the input of single chip machine controlling circuit, impulse hunting
The output of device is terminated at the input of photoelectrical coupler, and the output of photoelectrical coupler is terminated at the input of single chip machine controlling circuit
End, the output of single chip machine controlling circuit is terminated at the input of motor；Photographic head is bi-directionally connected with single chip machine controlling circuit；Power supply
For ultrasonic wave concussion circuit, ultrasonic sensor, pulse oscillator, photoelectrical coupler, single chip machine controlling circuit, photographic head and electricity
Machine is powered；
Wherein, described pulse oscillator adopts dual time base intervalometer to realize.
2. a kind of robot barrier detection circuit according to claim 1 it is characterised in that: this robot barrier detect electricity
Road also includes modulation circuit, and the input of modulation circuit is terminated at the outfan of ultrasonic wave concussion circuit, the outfan of modulation circuit
It is connected to the input of ultrasonic sensor.
3. a kind of robot barrier detection circuit according to claim 1 it is characterised in that: this robot barrier detect electricity
Road also includes sound/light cue circuit, and the input of sound/light cue circuit is terminated at the outfan of single chip machine controlling circuit.
4. a kind of robot barrier detection circuit according to claim 1 or 2 or 3 it is characterised in that: described ultrasound wave passes
Sensor is provided with multiple.
5. a kind of robot barrier detection circuit according to claim 1 or 2 or 3 it is characterised in that: described single-chip microcomputer control
Circuit processed adopts the chip microcontroller of model ht66fu70a.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620574191.7U CN205899379U (en) | 2016-06-15 | 2016-06-15 | Obstacle detection circuit of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620574191.7U CN205899379U (en) | 2016-06-15 | 2016-06-15 | Obstacle detection circuit of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205899379U true CN205899379U (en) | 2017-01-18 |
Family
ID=57766674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620574191.7U Expired - Fee Related CN205899379U (en) | 2016-06-15 | 2016-06-15 | Obstacle detection circuit of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205899379U (en) |
-
2016
- 2016-06-15 CN CN201620574191.7U patent/CN205899379U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 518000 1 703 of the first phase of Henggang Ze Jie garden, Longgang District, Shenzhen, Guangdong. Patentee after: SHENZHEN JINBAI KECHUANG DEVELOPMENT CO.,LTD. Address before: 518000 Guangdong Shenzhen Longhua New District Longhua Street East Ring Road 1, Pinus tabulaeformis science and technology building 1306 Patentee before: SHENZHEN JINBAI KECHUANG DEVELOPMENT CO.,LTD. |
|
| CP02 | Change in the address of a patent holder | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170118 |