CN206321793U - A kind of anthropomorphic robot with ultrasonic wave eyes - Google Patents
A kind of anthropomorphic robot with ultrasonic wave eyes Download PDFInfo
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- CN206321793U CN206321793U CN201621435209.1U CN201621435209U CN206321793U CN 206321793 U CN206321793 U CN 206321793U CN 201621435209 U CN201621435209 U CN 201621435209U CN 206321793 U CN206321793 U CN 206321793U
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Abstract
The utility model provides a kind of anthropomorphic robot with ultrasonic wave eyes, one group of ultrasonic sensor is placed on anthropomorphic robot eyes, pass through the cooperation with head movement mechanism, so that anthropomorphic robot detection angle is more extensive, more there is directive property, and the complexity of robot hardware's cost and program is reduced, the sight of anthropomorphic robot is improved.Including robot head, the eyes of robot head are fixed with ultrasonic distance measuring module, ultrasonic distance measuring module includes the ultrasonic sensor two as robot eyes, robot head, which has, can drive the steering wheel of head movement, steering wheel and ultrasonic distance measuring module are all connected with robot master control borad, control signal is sent by master control borad, control ultrasonic distance measuring module is synchronized with the movement with robot head and sends detectable signal, robot is realized that multi-faceted ultrasonic scanning is detected by head movement.
Description
Technical field
The utility model belongs to robotics, more particularly to a kind of humanoid machine with ultrasonic wave eyes
People.
Background technology
Ultrasonic wave is the mechanical wave that vibration frequency is higher than 20KHz.It has that frequency is high, wavelength is short, diffraction phenomenon is small, especially
Be good directionality, ray can be turned into and the features such as direction propagation.Ultrasonic wave is very big to the penetrating power of liquid, solid, especially
It is in the opaque solid of sunlight.Ultrasonic wave, which encounters impurity or interface, can produce significantly to reflect to form and be reflected into echo, touch
Doppler effect can be produced to mobiles.Ultrasonic sensor is that ultrasonic signal is converted into other energy signals (generally
Electric signal) sensor.At present, ultrasonic sensor is widely used in terms of industry, national defence, biomedicine.Ultrasonic wave
Range detection sensor is adjustable, progress is controllable, the features such as cost performance is high.In robot industry, ultrasonic sensor is with outstanding
Its extensively, serve many purposes, for example, for wheeled robot, anthropomorphic robot, the avoidance of rotor robot with detection away from
From for measuring height etc. in Medical Robot, it can learn the distance between robot and object, so that robot
Make the various reactions of fast and stable.The volume of ultrasonic sensor varies, and can facilitate installation, one on different devices
As when for robot obstacle-avoiding or detection range, can all be installed in each positions such as Xiong Bu Hou Bei Shou pin, if desired
The data of multiple direction in spaces are detected, the quantity of ultrasonic sensor can only be increased, comprehensive detection could be realized, virtually increased
The complexity of cost and program is added.In addition, also simply consider that it is used as detection range or avoidance in application, seldom meeting
In view of its aesthetic property, and the conformability with other equipment.
Utility model content
There is provided a kind of humanoid with ultrasonic wave eyes for the defect and deficiency that the utility model exists for prior art
Device people, anthropomorphic robot eyes are placed on by ultrasonic sensor, pass through the cooperation with head movement mechanism so that humanoid
Device people's detection angle is more extensive, more with directive property, and reduces the complexity of robot hardware's cost and program, carries
The high sight of anthropomorphic robot.
The technical solution of the utility model is：
1. a kind of anthropomorphic robot with ultrasonic wave eyes, it is characterised in that including robot head, the robot
Head is fixed with ultrasonic distance measuring module, and the ultrasonic wave that the ultrasonic distance measuring module includes installed in robot eyes position is passed
Sensor, the robot head, which has, can drive the steering wheel of head movement, and the steering wheel and the ultrasonic distance measuring module connect
Welding robot master control borad, control signal is sent by master control borad, controls ultrasonic distance measuring module fortune synchronous with robot head
Move and send detectable signal, robot is realized that multi-faceted ultrasonic scanning is detected by head movement.
2. described in robot head include head fore shell, have and supersonic sensing on the eyes of the head fore shell
The mounting hole that device size is adapted, the inside stretched installation base of the mounting hole, the ultrasonic distance measuring module is fixed on peace
Fill on boss, two ultrasonic sensors are respectively nested in the mounting hole.
3. described in installation base corner is reserved installs screwed hole, the ultrasonic distance measuring module is threaded in installation base
On.
4. described in head fore shell eyes around had reinforce and beauty function Reinforced Hoop.
5. described in ultrasonic distance measuring module include the ultrasonic distance measuring module of two ultrasonic sensors using one piece, it is described
The signal control end connection robot master control borad of ultrasonic distance measuring module, one of sensor emission ultrasound is controlled by master control borad
Ripple signal, reflection response signal is received by another sensor；The response signal time interval received by transmitting signals to
It can obtain detection range, the distance=time * velocity of sound (340M/S)/2.
6. described in ultrasonic distance measuring module using two pieces of only one of which ultrasonic sensors ultrasonic distance measuring module, two pieces
The signal control end of ultrasonic distance measuring module connects robot master control borad respectively, controls each sensor both to send out respectively by master control borad
Penetrate ultrasonic signal and receive reflection response signal again.
7. described in steering wheel include horizontal output shaft steering wheel and/or vertical output axle steering wheel；The base of the robot head
Above have and be horizontally mounted the output shaft of horizontal output shaft steering wheel and/or the output shaft of vertical output axle steering wheel is vertically arranged
Erecting device.
8. described in erecting device include the frame member that is horizontally mounted steering wheel output shaft, the two ends of the frame member have will
The connecting hole that steering wheel output shaft is horizontally mounted；There is the card for installing vertical output axle steering wheel in the lower section of horizontal output shaft steering wheel
Part, the fastener centre has the vertically arranged connecting hole of steering wheel output shaft.
9. described in steering wheel use digital rudder controller, the signal control end of the digital rudder controller connects robot master control borad respectively,
When needing robot head to move up and down, angle commands, control machine people are sent by master control borad controlled level output shaft steering wheel
Head comes back/bowed respective angles；When needing robot head left-right rotation respective angles, from master control borad to vertical output axle
Steering wheel sends angle commands, control machine head part's left-right rotation respective angles；And drive ultrasonic sensor to be synchronized with the movement, it is real
Multidirectional sweeping detection of the existing ultrasonic sensor in steering wheel range of movement.
10. described in robot master control borad include ultrasound data active detecting unit, for detecting ultrasonic sensor
Feedback data, the feedback data of ultrasonic sensor and the threshold value of setting are contrasted, if beyond defined threshold value, robot
Stop current main program to perform, jump to exception handler, perform after exception handler, return again to and continue executing with main journey
Sequence.
Technique effect of the present utility model：
A kind of anthropomorphic robot with ultrasonic wave eyes that the utility model is provided, people is arranged on by ultrasonic sensor
Anthropomorphic robot head eyes are used when robot eyes, by the cooperation with head movement mechanism, only use so as to be reached
One group of ultrasonic sensor can be in the range of Scanning Detction head movement mechanism kinematic ultrasound data, realize multi-angle space
Scanning Detction so that anthropomorphic robot detection angle is more extensive, more with directive property, detection space environment it is more efficient,
Faster, the complexity of robot hardware's cost and program is reduced；And ultrasonic sensor is placed on anthropomorphic robot head eye
Effect of the eyeball position not only as eyes, moreover it is possible to the function of human eye is imitated by program, eyes size and location meet
Base of principle of human engineering, makes anthropomorphic robot more as people, improve the sight of anthropomorphic robot.
Brief description of the drawings
Fig. 1-1 is fore shell embodiment front view in anthropomorphic robot head of the present utility model.
Fig. 1-2 is fore shell embodiment rearview in anthropomorphic robot head of the present utility model.
Fig. 2 is the embodiment front view that ultrasonic wave eyes of the present utility model and anthropomorphic robot head fore shell are combined.
Fig. 3 be the embodiment rearview that combines of ultrasonic wave eyes of the present utility model and anthropomorphic robot head fore shell it
One.
Fig. 4 be the embodiment rearview that combines of ultrasonic wave eyes of the present utility model and anthropomorphic robot head fore shell it
Two.
Fig. 5 is the anthropomorphic robot head steering wheel scheme of installation of the present utility model with ultrasonic wave eyes.
Fig. 6 is the workflow diagram of the ultrasound data active detecting unit of master control borad.
Reference lists as follows：1- robot head fore shells, 2- mounting holes, 3- installation bases, 4- screwed holes, 5- strengthens
Hoop, 6- bases, 7- ultrasonic sensors, 8-HC-SR04 modules, the left ultrasonic distance measuring modules of 9-, the right ultrasonic ranging moulds of 10-
Block, 11- horizontal output shaft steering wheels, 12- vertical output axle steering wheels, 13- frame members, 14- frame member connecting holes, 15- fasteners, 16-
Fastener connecting hole, 17- signal control ends.
Embodiment
Embodiment of the present utility model is described in further detail below in conjunction with accompanying drawing.
Mentality of designing of the present utility model is the eyes that ultrasonic sensor is fixed on to anthropomorphic robot head, will
The head shell of robot does moulding, cuts off the section bar of robot head housing eyes, reserves ultrasonic sensor size
The mounting hole of size, and internally stretched installation base.Ultrasonic sensor dual-use material is reached, both as eyes, is used again
In detection range, space has been saved, the aesthetic property and practicality of anthropomorphic robot has been improved.Do not influenceing the action of robot
In the case of, make full use of the advantage of eye position, using ultrasonic sensor, solve the attractive in appearance of anthropomorphic robot, detection with
The problem of avoidance and cooperation with other equipment.
A kind of anthropomorphic robot with ultrasonic wave eyes, including robot head, robot head are fixed with ultrasonic wave
Range finder module, ultrasonic distance measuring module includes the ultrasonic sensor installed in robot eyes position, and robot head has
The steering wheel of head movement can be driven, steering wheel and ultrasonic distance measuring module are all connected with robot master control borad, and control is sent by master control borad
Signal, control ultrasonic distance measuring module is synchronized with the movement with robot head and sends detectable signal, robot is transported by head
It is dynamic to realize multi-faceted ultrasonic scanning detection.
Fig. 1-1, Fig. 1-2 are the front view of anthropomorphic robot head fore shell embodiment of the present utility model, rearview.Machine
Head part includes having the mounting hole being adapted with ultrasonic sensor size on head fore shell 1, the eyes of head fore shell 1
2, the inside stretched installation base 3 of mounting hole, boss corner is reserved to install screwed hole 4, for mounting ultrasonic range finder module；Before
Also there is Reinforced Hoop 5 around the eyes of shell, play and head front casing member is reinforced and effect attractive in appearance.
The respectively ultrasonic wave eyes of the present utility model of Fig. 2,3,4 and the embodiment of anthropomorphic robot head fore shell combination are just
View, rearview.Ultrasonic distance measuring module includes two ultrasonic sensors 7, is used as the eyes of robot.Ultrasonic ranging mould
When block is fixed on installation base, two ultrasonic sensors 7 are nested in mounting hole 2.Wherein, as shown in Figure 3 in it is used
Ultrasonic distance measuring module, which is one piece, includes the ultrasonic distance measuring module 8 of two ultrasonic sensors, and ultrasonic distance measuring module 8 passes through
Screwed hole 4 is fixed on installation base by the way of threaded connection.Two ultrasonic sensors 7 are that a receipts one are sent out, by it
In a sensor emission ultrasonic signal, by another sensor receive reflection response signal, ultrasonic distance measuring module 8
The connection master control borad of signal control end 17 (being not drawn into figure).It is the ultrasound using two pieces of only one of which ultrasonic sensors in Fig. 4
Ripple range finder module 9,10, is separately mounted to the left and right eyes of robot head fore shell, left ultrasonic distance measuring module 9 and the right side
The mode that threaded connection is respectively adopted in ultrasonic distance measuring module 10 is fixed on installation base, and each sensor both launches ultrasonic wave
Signal receives reflection response signal again, and the signal control end 17 of two ultrasonic distance measuring modules 9,10 connects master control borad (figure respectively
In be not drawn into).
Fig. 5 installs embodiment schematic diagram for the anthropomorphic robot head steering wheel of the present utility model with ultrasonic wave eyes.
Including horizontal output shaft steering wheel 11 and/or vertical output axle steering wheel 12；Have on the base of robot head by horizontal output shaft
The output shaft of steering wheel is horizontally mounted and/or by the vertically arranged erecting device of output shaft of vertical output axle steering wheel.
In the present embodiment, including the frame member 13 of horizontal output shaft steering wheel 11 is installed in the connection of the lower section of base 6, frame member 13
Two ends have the connecting hole 14 for being horizontally mounted steering wheel output shaft；Have in the lower section of horizontal output shaft steering wheel 11 and install vertical defeated
The fastener 15 of shaft steering wheel 12, the centre of fastener 15 has the vertically arranged connecting hole 16 of steering wheel output shaft.Head base
The special upper end of frame member 13 of robot is fixed on, the output shaft of steering wheel 11 is connected horizontally on the two ends connecting hole of special frame member 13
On 14, the lower section of steering wheel 11 connection robot special fastener 15, the connection vertical output axle of fastener 15 steering wheel 12.In the present embodiment, institute
State steering wheel and use digital rudder controller, the signal control end of two digital rudder controllers connects robot master control borad respectively, when needing robot
When head moves up and down, angle commands, control machine head part new line/low are sent by master control borad controlled level output shaft steering wheel 11
Head respective angles；When needing robot head left-right rotation respective angles, sent from master control borad to vertical output axle steering wheel 12
Angle commands, control machine head part's left-right rotation respective angles；Drive ultrasonic sensor to be synchronized with the movement, realize that ultrasonic wave is passed
Multidirectional sweeping detection of the sensor in steering wheel range of movement.
By taking the HC-SR04 ultrasonic distance measuring modules with two ultrasonic sensors as an example, the 4pin of signal control end 17
Interface is defined：VCC supplies 5V power supplys, and GND is ground wire, and TRIG inputs for Trig control signal, and ECHO is response signal output end.Its
Operation principle：Master control borad triggers ultrasonic distance measuring module work by enabling signal to one work of ultrasonic distance measuring module, surpasses
Sound ranging module sends 8 40kHz square wave, the time of feedback wave is calculated, so as to realize the detection of distance.(1) IO is used
Ranging is triggered, at least 10us high level signal；(2) module sends 8 40khz square wave automatically, and whether automatic detection has
Signal is returned；(3) there is signal return, a high level is exported by IO, high level duration is exactly ultrasonic wave from being transmitted into
The time of return；(4) measuring distance=(the high level time * velocities of sound (340M/S))/2.Therefore, by HC-SR04 ultrasonic rangings
The signal control end connection robot master control borad of module, from master control borad to the TRIG trigger signal inputs of ultrasonic distance measuring module
Pulse triggering signal is sent, is echoed letter by ECHO response signals output end output high level if echo-signal has been detected
Number；The pulse width of response signal is directly proportional to the distance surveyed.It can be visited by the response signal time interval received
Ranging is from the distance=high level time * velocities of sound (340M/S)/2.Only need to provide more than a 10uS pulse triggering signal, should
Inside modules will send 8 40kHz cycles level and detect echo.Response signal is exported if echo-signal has been detected.
The pulse width of response signal is directly proportional to the distance surveyed.The response signal time interval received from there through transmitting signals to
It can calculate and obtain distance.Formula：US/58=centimetres or uS/148=inch；Or：Distance=high level time * the velocities of sound
(340M/S)/2；It is recommended that measurement period is more than 60ms, to prevent influence of the transmission signal to response signal.
Meanwhile, the signal control end of digital rudder controller also connection robot master control borad respectively, the master control borad of robot is to steering wheel
Send control signal, the control signal of steering wheel is generally pulsewidth modulation (PWM) signal that the cycle is 20ms, wherein pulse width from
0.5ms-2.5ms, the angle of corresponding steering wheel is 0-180 degree, different according to the steering wheel model used, it can also reach 0-
360 degree；Linear change.That is, provide it with certain pulsewidth, its output shaft remain in one it is corresponding
In angle, the pulse signal until providing it with an other width, it can just change output angle to new corresponding position
On.Signal modulation chip in helm control circuit plate receives the control signal from master control borad, obtains in bias voltage, chip
Portion is per se with a reference circuit, and the cycle that produces is 20 milliseconds, and width is 1.5MS reference signal, the bias voltage of acquisition
Signal can be compared with reference voltage, and the positive and negative values of voltage difference are output to the rotating that motor drive ic will determine motor,
Because what the output shaft of steering wheel was connected to position feedback potentiometer, the rotation of motor drives feedback electricity by cascading reduction gearing
Position meter (potentiometer) rotation, potentiometer will export a voltage signal to control board, negative-feedback be carried out, when voltage difference is zero
When, motor stalls, and reach expected rotational angle position.The control of steering wheel generally requires a 20ms or so when base
Pulse, the high level part of the pulse is generally the angle control segment pulse in the range of 0.5ms-2.5ms, and total linear spacing is 2ms.
By taking 180 degree angle servo as an example, then corresponding control planning is such：
0.5ms--------------0 degree；
1.0ms------------45 degree；
1.5ms------------90 degree；
2.0ms-----------135 degree；
2.5ms-----------180 degree；
……
Therefore, robot master control borad sends angle commands to steering wheel, and steering wheel will rotate to response angle, because of the machine of steering wheel
Tool structure is connected with the head of robot, angular movement of the angular movement equivalent to head of steering wheel, and ultrasonic sensor is then
Head is fixed on, thus realizes angle scanning of the ultrasonic wave in steering wheel angular range.
A ultrasound data active detecting unit is added in robot master control borad, for detecting ultrasonic sensor
Feedback data.As shown in fig. 6, the workflow diagram of the ultrasound data active detecting unit for master control borad.Idiographic flow is：Root
According to the data of ultrasound feedback, contrasted with the threshold value that is set in program, judge ultrasonic distance numerical value whether beyond defined
Threshold value, if beyond defined threshold value, such as front runs into obstacle, then robot stops current main program execution, jumps to different
Normal processing routine, performs exception handler, such as is that front is accessible by the pose adjustment of robot, then detect ultrasonic wave away from
Whether meet setting from numerical value, if meeting, program returns to main program and continued executing with, so as to reach that avoidance is acted on.
It should be pointed out that the above embodiment can make those skilled in the art that the present invention is more fully understood
Create, but do not limit the invention in any way is created.Therefore, although this specification and embodiment have been carried out to the invention
Detailed description, it will be understood by those skilled in the art, however, that still can modify to the invention or equivalent
Replace；And technical scheme and its improvement of all spirit and scope for not departing from the invention, it is encompassed by wound of the present invention
Make among the protection domain of patent.
Claims (10)
1. a kind of anthropomorphic robot with ultrasonic wave eyes, it is characterised in that including robot head, the robot head
Ultrasonic distance measuring module is fixed with, the ultrasonic distance measuring module includes the supersonic sensing installed in robot eyes position
Device, the robot head, which has, can drive the steering wheel of head movement, and the steering wheel and the ultrasonic distance measuring module are all connected with
Robot master control borad, control signal is sent by master control borad, controls the ultrasonic distance measuring module to be synchronized with the movement with robot head
And detectable signal is sent, robot is realized that multi-faceted ultrasonic scanning is detected by head movement.
2. the anthropomorphic robot according to claim 1 with ultrasonic wave eyes, it is characterised in that the robot head
There is the mounting hole being adapted with ultrasonic sensor size, institute including head fore shell, on the eyes of the head fore shell
Mounting hole inwardly stretched installation base is stated, the ultrasonic distance measuring module is fixed on installation base, two supersonic sensings
Device is respectively nested in the mounting hole.
3. the anthropomorphic robot according to claim 2 with ultrasonic wave eyes, it is characterised in that the installation base four
Angle is reserved to install screwed hole, and the ultrasonic distance measuring module is threaded on installation base.
4. the anthropomorphic robot with ultrasonic wave eyes according to Claims 2 or 3, it is characterised in that before the head
There is the Reinforced Hoop reinforced with beauty function around the eyes of shell.
5. the anthropomorphic robot according to claim 1 with ultrasonic wave eyes, it is characterised in that the ultrasonic ranging
Module includes the ultrasonic distance measuring module of two ultrasonic sensors, the signal control of the ultrasonic distance measuring module using one piece
End connection robot master control borad, controls one of sensor emission ultrasonic signal by master control borad, passes through another sensor
Receive reflection response signal；The response signal time interval received by transmitting signals to can obtain detection range, apart from=
The time * velocity of sound (340M/S)/2.
6. the anthropomorphic robot according to claim 1 with ultrasonic wave eyes, it is characterised in that the ultrasonic ranging
Module is using the ultrasonic distance measuring module of two pieces of only one of which ultrasonic sensors, the signal control of two pieces of ultrasonic distance measuring modules
End connects robot master control borad respectively, controls each sensor not only to launch ultrasonic signal but also received respectively by master control borad and is reflected back
Ring signal.
7. the anthropomorphic robot with ultrasonic wave eyes according to claim 5 or 6, it is characterised in that the steering wheel bag
Include horizontal output shaft steering wheel and/or vertical output axle steering wheel；Have on the base of the robot head by horizontal output shaft rudder
The output shaft of machine is horizontally mounted and/or by the vertically arranged erecting device of output shaft of vertical output axle steering wheel.
8. the anthropomorphic robot according to claim 7 with ultrasonic wave eyes, it is characterised in that the erecting device bag
The frame member for being horizontally mounted steering wheel output shaft is included, the two ends of the frame member have the connection for being horizontally mounted steering wheel output shaft
Hole；There is the fastener for installing vertical output axle steering wheel in the lower section of horizontal output shaft steering wheel, the fastener centre has will
The vertically arranged connecting hole of steering wheel output shaft.
9. the anthropomorphic robot according to claim 8 with ultrasonic wave eyes, it is characterised in that the steering wheel uses number
Word steering wheel, the signal control end of the digital rudder controller connects robot master control borad respectively, is moved up and down when needing robot head
When, angle commands are sent by master control borad controlled level output shaft steering wheel, control machine head part comes back/bowed respective angles；When
When needing robot head left-right rotation respective angles, angle commands, control machine are sent from master control borad to vertical output axle steering wheel
Device head part's left-right rotation respective angles；And drive ultrasonic sensor to be synchronized with the movement, realize that ultrasonic sensor is transported in steering wheel
Multidirectional sweeping detection in dynamic scope.
10. the anthropomorphic robot according to claim 1 with ultrasonic wave eyes, it is characterised in that the robot master
Controlling plate includes ultrasound data active detecting unit, the feedback data for detecting ultrasonic sensor, by ultrasonic sensor
Feedback data and the threshold value of setting contrast, if beyond defined threshold value, robot stops current main program and performed, and redirects
To exception handler, perform after exception handler, return again to and continue executing with main program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621435209.1U CN206321793U (en) | 2016-12-26 | 2016-12-26 | A kind of anthropomorphic robot with ultrasonic wave eyes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621435209.1U CN206321793U (en) | 2016-12-26 | 2016-12-26 | A kind of anthropomorphic robot with ultrasonic wave eyes |
Publications (1)
| Publication Number | Publication Date |
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| CN206321793U true CN206321793U (en) | 2017-07-11 |
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ID=59260340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201621435209.1U Active CN206321793U (en) | 2016-12-26 | 2016-12-26 | A kind of anthropomorphic robot with ultrasonic wave eyes |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106646486A (en) * | 2016-12-26 | 2017-05-10 | 智能佳（北京）机器人有限公司 | Humanoid robot with ultrasonic wave eyes |
| CN107568906A (en) * | 2017-11-02 | 2018-01-12 | 山东建筑大学 | A kind of concealed intelligent elevated dais of microphone |
-
2016
- 2016-12-26 CN CN201621435209.1U patent/CN206321793U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106646486A (en) * | 2016-12-26 | 2017-05-10 | 智能佳（北京）机器人有限公司 | Humanoid robot with ultrasonic wave eyes |
| CN107568906A (en) * | 2017-11-02 | 2018-01-12 | 山东建筑大学 | A kind of concealed intelligent elevated dais of microphone |
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