CN208215359U - A kind of clean robot position measuring module plug and play standardized interface arrangement - Google Patents
A kind of clean robot position measuring module plug and play standardized interface arrangement Download PDFInfo
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- CN208215359U CN208215359U CN201820669036.2U CN201820669036U CN208215359U CN 208215359 U CN208215359 U CN 208215359U CN 201820669036 U CN201820669036 U CN 201820669036U CN 208215359 U CN208215359 U CN 208215359U
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Abstract
The utility model is a kind of clean robot position measuring module plug and play standardized interface arrangement, the device includes microprocessor, the input/output terminal of the microprocessor is connected with ultrasonic sensor, for providing a certain range of contactless distance sensing, the input/output terminal of the microprocessor is connected with RS232 route driving transceiver, the sending and receiving end of the RS232 route driving transceiver is connected with SCI interface, the input/output terminal of the microprocessor is connected with CAN bus transceiver, the signal output end of the CAN bus transceiver is connected with CAN interface.Clean robot provided by the utility model often uses the two kinds of universal standardization SCI and CAN interface of range finder module, the compatibility between two kinds of interfaces is taken into account, realize online real-time data acquisition and display, and device reliable operation, real-time is good, can realize plug and play by standardization SCI interface and CAN interface with host computer.
Description
Technical field
The utility model relates to AI robotic technology fields, and in particular to a kind of clean robot position measuring module is i.e. slotting
Use standardized interface arrangement.
Background technique
Clean robot is to service the mankind and most close to the robot of the mankind, its energy as a kind of extraordinary service robot
Enough cleanings for replacing people to complete family, market and working environment completely.Gradually decrease with China active labour force and
Demographic dividend fades away, and household services labor cost is constantly soaring, and the clean robot for servicing family's work is promoted to need
Rate is asked also to rise year by year.Clean robot is related to power technology, sensor technology, avoidance obstacle technology, path planning and determines
The key technologies such as position technology.
It is accurate to obtain the premise that environmental information is clean robot safe and efficient work.By to peripheral obstacle distance
Constantly measurement is to realize the prerequisite of avoidance, and the obstacle avoidance system position measurement as clean robot is essential, main at present
Want that there are the following problems:
1. existing market clean robot obstacle avoidance system is various using the sensor of measurement position, output signal is not
One, country does not seek unity of standard, and principles of signal processing is different in each control system, increases designer's design complexities.
2. currently on the market the range finder module of comparative maturity be generally using single-chip microcontroller as core controller module, but due to
Single-chip microcontroller is using Feng's neumann architecture, for example common 51 series monolithic dominant frequency only have 12MHz, so in calculation process
The requirement of clean robot upper layer path planning algorithm data acquiring frequency is unable to satisfy in ability at all.
3. at present since sensor output interface signal is not sought unity of standard, cause between sensor and sensor with it is upper
It cannot achieve interoperability and plug and play between layer.Every designer must be familiar with various standard interface protocols, waste research
Time increases research cost.
For above-mentioned status and problem, a kind of high performance clean robot universal location measurement module standardization of high-speed
One turn of two plug-and-play apparatus design is imperative, and such designer can directly adopt batch according to different research objects and make
The modular station assembly made meets user's basic hardware requirement, and such researcher spends the less time in clean robot
On the hardware configuration of bottom, it is not necessary to accent starts to design, and energy is placed on capturing for upper layer algorithm research and technical barrier,
Cost is not only reduced, research cycle is shortened, largely improves Efficiency.
Utility model content
The purpose of the utility model is to overcome problems of the existing technology, provide a kind of clean robot position measurement
Module plug and play standardized interface arrangement.
To realize above-mentioned technical purpose and the technique effect, the utility model is achieved through the following technical solutions:
A kind of clean robot position measuring module plug and play standardized interface arrangement, which includes microprocessor,
The input/output terminal of the microprocessor is connected with ultrasonic sensor, for providing a certain range of contactless distance perception
It surveys, the input/output terminal of the microprocessor is connected with RS232 route driving transceiver, and the RS232 route drives transceiver
Sending and receiving end be connected with SCI interface, be used for one-to-one full-duplex communication, the input/output terminal of the microprocessor is connected with
The signal output end of CAN bus transceiver, the CAN bus transceiver is connected with CAN interface, for realizing real-time control
How main serial communication local area network.
Further, the microprocessor uses TMS320F2812 dsp chip, and the ultrasonic sensor uses HC-
SR04 chip, the RS232 route driving transceiver use MAX3232 chip, and the CAN bus transceiver uses
SN65HVD230 chip.
Further, the 28th pin MCLKXA of the microprocessor and the 26th pin MFSXA connection ultrasonic sensor
Trig pin, for exporting at least pulse of 10us to ultrasonic sensor, the 25th pin MCLKRA of microprocessor and
The Echo pin of 29 pin MFSRA connection ultrasonic sensors, for exporting feedback signal to microprocessor, the of microprocessor
155 pin SCITXDA and the 157th pin SCIRXDA are separately connected the 11st pin T1IN and the 12nd pin of CAN bus transceiver
R1OUT, the 13rd pin R1IN of CAN bus transceiver and the 14th pin T1OUT be separately connected SCI interface the 4th pin TX and
3rd pin RX, the 89th pin CANRXA of microprocessor and the 87th pin CANTXA are separately connected the 4th of CAN bus transceiver
Pin R and the 1st pin D, the 7th pin CANH of CAN bus transceiver and the 6th pin CANL are separately connected CAN interface
2nd pin and the 1st pin.
Further, it is total that matching is connected between the 7th pin CANH and the 6th pin CANL of the CAN bus transceiver
Line resistance.
Further, which further includes having DSP power supply circuit, and the DSP power supply circuit includes
TPS767D301 chip, the 3rd pin, the 4th pin, the 9th pin and the 10th pin ground terminal of the TPS767D301 chip,
The 5th pin, the 6th pin, the 11st pin and the 12nd pin of TPS767D301 chip pass through electricity in parallel after connecting jointly respectively
Hold C5, capacitor C10, capacitor C14 ground terminal and 5V power end is connect by inductance L1, and between 5V power end and inductance L1
By capacitor C17 ground terminal on connecting path, the 23rd pin and the 24th pin of the TPS767D301 chip link together
And as 1.8V power output end, and the 23rd pin of TPS767D301 chip and the 24th pin by capacitor C21 in parallel,
Capacitor C2, capacitor C6, capacitor C11 ground terminal, the 25th pin of TPS767D301 chip pass through resistance R2 ground terminal respectively and lead to
Resistance R1 connection 1.8V power output end is crossed, the 17th pin, the 18th pin and the 19th pin of TPS767D301 chip are connected to
Together and as 3.3V power output end, the 3.3V power output end is to being reversely equipped with diode between 1.8V power output end
Light emitting diode D2, the 3.3V power supply output of resistance R3 and positive setting is serially connected between D1,3.3V power output end and ground terminal
End respectively by capacitor C3 in parallel, capacitor C7, capacitor C12, capacitor C16, capacitor C18, capacitor C56, capacitor C57 ground terminal,
Pass through capacitor C67 in parallel, capacitor C68, capacitor C69, capacitor C70, capacitor C71, capacitor C72, capacitor C9, capacitor C1 ground connection
End passes through capacitor C64 in parallel, capacitor C63, capacitor C66, capacitor C65 ground terminal.
Further, the 155th pin SCITXDA of the microprocessor is defeated by pull-up resistor R13 connection 3.3V power supply
Outlet.
Further, the microprocessor is connected with four seven segment digital tubes by 3128A chip, for showing ultrasonic wave
The obstacle distance value of sensor real-time measurement.
The beneficial effects of the utility model are:
Clean robot provided by the utility model often uses the two kinds of universal standardization SCI and CAN interface of range finder module, together
When taken into account compatibility between two kinds of interfaces, realize online real-time data acquisition and display, and device reliable operation, in real time
Property it is good, can with host computer by standardization SCI interface and CAN interface realize plug and play.
Detailed description of the invention
Fig. 1 is the clean robot position measuring module plug and play standard interface way circuit figure of the utility model；
Fig. 2 is the DSP power supply circuit of the utility model；
Fig. 3 is the seven segment digital tubes display circuit figure of the utility model.
Specific embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, the utility model is described in detail.
A kind of clean robot position measuring module plug and play standardized interface arrangement, which includes microprocessor,
The input/output terminal of the microprocessor is connected with ultrasonic sensor, for providing a certain range of contactless distance perception
It surveys, the input/output terminal of the microprocessor is connected with RS232 route driving transceiver, and the RS232 route drives transceiver
Sending and receiving end be connected with SCI interface, be used for one-to-one full-duplex communication, the input/output terminal of the microprocessor is connected with
The signal output end of CAN bus transceiver, the CAN bus transceiver is connected with CAN interface, only there are two root line and outside
Portion is connected, for realizing the how main serial communication local area network of real-time control.
The microprocessor uses TMS320F2812 dsp chip, and the ultrasonic sensor uses HC-SR04 chip,
It can provide the contactless distance sensing function of 20mm-4000mm, precision 3mm, and the RS232 route driving transceiver uses
MAX3232 chip, the CAN bus transceiver use SN65HVD230 chip.
As shown in Figure 1, TMS320F2812 dsp chip has 6 groups of universal inputs/output multi-channel multiplexer GPIO, respectively
It is GPIOA, GPIOB, GPIOD, GPIOE, GPIOF and GPIOG, management one shares 56 pins, one turn of two mark of ultrasonic distance measurement
In standardization SCI interface and CAN interface module hardware circuit design, in the selection common GPIO of TMS320F2812 dsp chip
When input/output port, first has to avoid specific function pin CANTXA and CANRXA that CAN is used, avoid SCI standard interface
Specific function the pin SCITXDA and SCIRXDA used, communicates because these terminals are specifically used to carry out CAN with SCI,
The common end GPIO, the 28th pin MCLKXA of the microprocessor and the 26th pin MFSXA connection ultrasonic sensor cannot be done
Trig pin, for exporting at least pulse of 10us to ultrasonic sensor, the 25th pin MCLKRA of microprocessor and
The Echo pin of 29 pin MFSRA connection ultrasonic sensors, for exporting feedback signal to microprocessor, the of microprocessor
155 pin SCITXDA and the 157th pin SCIRXDA are separately connected the 11st pin T1IN and the 12nd pin of CAN bus transceiver
R1OUT, the 13rd pin R1IN of CAN bus transceiver and the 14th pin T1OUT be separately connected SCI interface the 4th pin TX and
3rd pin RX, the 89th pin CANRXA of microprocessor and the 87th pin CANTXA are separately connected the 4th of CAN bus transceiver
Pin R and the 1st pin D, the 7th pin CANH of CAN bus transceiver and the 6th pin CANL are separately connected CAN interface
2nd pin and the 1st pin use the crystal oscillating circuit of 30MHz dominant frequency in the present embodiment outside microprocessor, but by micro-
Processor can make it generate the clock frequency of 150MHz system controller parameter setting.
Matching bus resistance is connected between the 7th pin CANH and the 6th pin CANL of the CAN bus transceiver.
As shown in Fig. 2, the device further includes having DSP power supply circuit, in the present embodiment, because of TMS320F2812 DSP
Chip will work normally, it is desirable that provide the supply voltage of 3.3V, 1.8V, this system uses TPS767D301 chip, this chip
Voltage accuracy is relatively high, will can generate power supply required for DSP core after the power supply of DSP power supply circuit input 5V
3.3V and 1.8V, the DSP power supply circuit include TPS767D301 chip, and the 3rd of the TPS767D301 chip is drawn
Foot, the 4th pin, the 9th pin and the 10th pin ground terminal, the 5th pin of TPS767D301 chip, the 6th pin, the 11st pin and
12nd pin by capacitor C5 in parallel, capacitor C10, capacitor C14 ground terminal and by inductance L1 meets 5V respectively after connecting jointly
Power end, and pass through capacitor C17 ground terminal, the TPS767D301 on the connecting path between 5V power end and inductance L1
23rd pin of chip and the 24th pin link together and as 1.8V power output ends, and the of TPS767D301 chip
23 pins and the 24th pin pass through capacitor C21 in parallel, capacitor C2, capacitor C6, capacitor C11 ground terminal, TPS767D301 chip
The 25th pin pass through resistance R2 ground terminal respectively and connect 1.8V power output end with by resistance R1, TPS767D301 chip
17th pin, the 18th pin and the 19th pin link together and as 3.3V power output end, the 3.3V power output ends
To diode D1 is reversely equipped between 1.8V power output end, resistance R3 and just is serially connected between 3.3V power output end and ground terminal
Pass through capacitor C3 in parallel, capacitor C7, capacitor C12, capacitor respectively to light emitting diode D2, the 3.3V power output end of setting
C16, capacitor C18, capacitor C56, capacitor C57 ground terminal, by capacitor C67 in parallel, capacitor C68, capacitor C69, capacitor C70,
Capacitor C71, capacitor C72, capacitor C9, capacitor C1 ground terminal, pass through capacitor C64 in parallel, capacitor C63, capacitor C66, capacitor C65
Ground terminal.
155th pin SCITXDA of the microprocessor passes through pull-up resistor R13 connection 3.3V power output end.
As shown in figure 3, the ranging range because of HC-SR04 chip is 20mm-4000mm, therefore the microprocessor passes through
3128A chip is connected with four seven segment digital tubes, for showing the obstacle distance value of ultrasonic sensor real-time measurement.
The utility model principle
The utility model provides the two kinds of universal standardization SCI and CAN interface that clean robot often uses range finder module, together
When consider compatibility between two kinds of interfaces, realize online real-time data acquisition and display, present apparatus reliable operation, real-time
It is good, plug and play can be realized by standardization SCI interface and CAN interface with host computer.
This ultrasonic wave standard interface module can also promote the use of any mobile machine of the avoidance distance within the scope of 4m
, can be by this system loaded in a flight data recorder in people's system, mobile robot R & D design personnel, which need to only bring, directly passes through CAN
Bus interface and SCI interface and upper platform overlap, and can collect desired real time data, do not need to deflorate again it is time-consuming and
Energy removes the Hardware and software design of research ultrasonic sensor output signal processing, is saved greatly research cost, shortens and grind
Study carefully the period.
Those skilled in the art can understand that the correlation module that is related in the utility model and its realization
Function is that computer software conventional in the prior art is carried on improved hardware and its device of composition, device or system
Program or related agreement achieve that, are improved to computer software programs in the prior art or related agreement.
For example, improved computer hardware system still can realize the hardware system by loading existing operation system of software
Specific function.It is understood, therefore, that the innovation of the utility model is to change hardware module in the prior art
Into and its connection syntagmatic, rather than be only in hardware module to realize changing for the software that carries in relation to function or agreement
Into.
In addition, it should be noted that, unless stated otherwise or point out, otherwise the term in specification " the 1st ", " the 2nd ",
Descriptions such as " the 3 " are used only for distinguishing various components, element, the step etc. in specification, without be intended to indicate that various components,
Logical relation or ordinal relation between element, step etc..
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (7)
1. a kind of clean robot position measuring module plug and play standardized interface arrangement, which includes microprocessor,
It is characterized in that, the input/output terminal of the microprocessor is connected with ultrasonic sensor, a certain range of non-contact for providing
Formula distance sensing, the input/output terminal of the microprocessor are connected with RS232 route driving transceiver, and the RS232 route drives
The sending and receiving end of dynamic transceiver is connected with SCI interface, is used for one-to-one full-duplex communication, the input/output of the microprocessor
End is connected with CAN bus transceiver, and the signal output end of the CAN bus transceiver is connected with CAN interface, for realizing
The how main serial communication local area network of real-time control.
2. clean robot position measuring module plug and play standardized interface arrangement according to claim 1, feature
It is, the microprocessor uses TMS320F2812 dsp chip, and the ultrasonic sensor uses HC-SR04 chip, described
RS232 route drives transceiver to use MAX3232 chip, and the CAN bus transceiver uses SN65HVD230 chip.
3. clean robot position measuring module plug and play standardized interface arrangement according to claim 2, feature
It is, the Trig pin of the 28th pin MCLKXA of the microprocessor and the 26th pin MFSXA connection ultrasonic sensor, uses
Connect in exporting at least pulse of 10us to ultrasonic sensor, the 25th pin MCLKRA of microprocessor and the 29th pin MFSRA
The Echo pin for connecing ultrasonic sensor, for exporting feedback signal to microprocessor, the 155th pin of microprocessor
SCITXDA and the 157th pin SCIRXDA is separately connected the 11st pin T1IN and the 12nd pin R1OUT of CAN bus transceiver,
13rd pin R1IN of CAN bus transceiver and the 14th pin T1OUT is separately connected the 4th pin TX and the 3rd pin of SCI interface
RX, the 89th pin CANRXA of microprocessor and the 87th pin CANTXA be separately connected CAN bus transceiver the 4th pin R and
1st pin D, the 7th pin CANH of CAN bus transceiver and the 6th pin CANL are separately connected the 2nd pin of CAN interface
With the 1st pin.
4. clean robot position measuring module plug and play standardized interface arrangement according to claim 3, feature
It is, is connected with matching bus resistance between the 7th pin CANH and the 6th pin CANL of the CAN bus transceiver.
5. clean robot position measuring module plug and play standardized interface arrangement according to claim 3, feature
It is, which further includes having DSP power supply circuit, and the DSP power supply circuit includes TPS767D301 chip, institute
State the 3rd pin, the 4th pin, the 9th pin and the 10th pin ground terminal of TPS767D301 chip, the 5th of TPS767D301 chip the
Pin, the 6th pin, the 11st pin and the 12nd pin pass through capacitor C5 in parallel, capacitor C10, capacitor C14 after connecting jointly respectively
Ground terminal and 5V power end is connect by inductance L1, and passes through capacitor on the connecting path between 5V power end and inductance L1
C17 ground terminal, the 23rd pin and the 24th pin of the TPS767D301 chip link together and export as 1.8V power supply
End, and the 23rd pin of TPS767D301 chip and the 24th pin pass through capacitor C21 in parallel, capacitor C2, capacitor C6, capacitor
C11 ground terminal, the 25th pin of TPS767D301 chip pass through resistance R2 ground terminal respectively and connect 1.8V electricity with by resistance R1
Source output terminal, the 17th pin, the 18th pin and the 19th pin of TPS767D301 chip link together and as 3.3V power supply
Output end, the 3.3V power output end between 1.8V power output end reversely be equipped with diode D1,3.3V power output end
Light emitting diode D2, the 3.3V power output end that resistance R3 and positive setting are serially connected between ground terminal passes through electricity in parallel respectively
Hold C3, capacitor C7, capacitor C12, capacitor C16, capacitor C18, capacitor C56, capacitor C57 ground terminal, by capacitor C67 in parallel,
Capacitor C68, capacitor C69, capacitor C70, capacitor C71, capacitor C72, capacitor C9, capacitor C1 ground terminal, pass through capacitor in parallel
C64, capacitor C63, capacitor C66, capacitor C65 ground terminal.
6. clean robot position measuring module plug and play standardized interface arrangement according to claim 5, feature
It is, the 155th pin SCITXDA of the microprocessor passes through pull-up resistor R13 connection 3.3V power output end.
7. clean robot position measuring module plug and play standardized interface arrangement according to claim 3, feature
It is, the microprocessor is connected with four seven segment digital tubes by 3128A chip, for showing that ultrasonic sensor is surveyed in real time
The obstacle distance value of amount.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820669036.2U CN208215359U (en) | 2018-05-07 | 2018-05-07 | A kind of clean robot position measuring module plug and play standardized interface arrangement |
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| CN201820669036.2U CN208215359U (en) | 2018-05-07 | 2018-05-07 | A kind of clean robot position measuring module plug and play standardized interface arrangement |
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| CN208215359U true CN208215359U (en) | 2018-12-11 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436940A (en) * | 2018-05-07 | 2018-08-24 | 苏州经贸职业技术学院 | A kind of clean robot position measuring module plug and play standardized interface arrangement |
| CN113035964A (en) * | 2021-03-08 | 2021-06-25 | 中电科技集团重庆声光电有限公司 | Standardized interface for repackaging sensor module |
-
2018
- 2018-05-07 CN CN201820669036.2U patent/CN208215359U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436940A (en) * | 2018-05-07 | 2018-08-24 | 苏州经贸职业技术学院 | A kind of clean robot position measuring module plug and play standardized interface arrangement |
| CN113035964A (en) * | 2021-03-08 | 2021-06-25 | 中电科技集团重庆声光电有限公司 | Standardized interface for repackaging sensor module |
| CN113035964B (en) * | 2021-03-08 | 2023-02-21 | 中电科技集团重庆声光电有限公司 | Standardized interface for repackaging sensor module |
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