CN214427611U - Infrared optical sensor measuring instrument - Google Patents
Infrared optical sensor measuring instrument Download PDFInfo
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- CN214427611U CN214427611U CN202120352491.1U CN202120352491U CN214427611U CN 214427611 U CN214427611 U CN 214427611U CN 202120352491 U CN202120352491 U CN 202120352491U CN 214427611 U CN214427611 U CN 214427611U
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Abstract
The utility model provides an infrared optical sensor measuring instrument, which comprises a plurality of infrared sensors, wherein two infrared sensors form a group of distance detection circuit, the distance detection circuit comprises a sending circuit and a receiving circuit, the sending circuit sends out infrared rays with different intensities, and the receiving circuit receives the infrared rays with different brightness; the input ends of the sending circuit and the receiving circuit are electrically connected with a voltage regulating circuit, and the output ends of the sending circuit and the receiving circuit are respectively electrically connected with a transmitting transmission circuit and a receiving transmission circuit. The utility model discloses can be under different environment the distance of accurate measurement maze robot and the place ahead barrier and the corner at the place ahead fork crossing.
Description
Technical Field
The utility model relates to an optical sensor technical field of maze robot, concretely relates to infrared optical sensor measuring apparatu.
Background
In the normal maze robot competition, the maze robot walks in the maze, the maze robot needs to automatically run, automatically detects the wall, automatically corrects the posture, automatically turns, and wins the team who preferentially walks out of the maze
When the robot in the maze walks, the measurement needs to be monitored in advance, obstacles exist in any direction, the robot needs to be avoided, and the robot can move forward without the obstacles in any direction. Under the match environment of difference, the precision that detects through the sensor has the influence, for accurate control maze robot walking in the maze, needs a distance sensor, can avoid the influence of environmental factor to the sensor precision according to the manual regulation of the light condition in the environment of difference.
SUMMERY OF THE UTILITY MODEL
In view of this, the to-be-solved problem of the utility model is to provide an infrared optical sensor measuring apparatu can realize under the match environment of difference, and distance sensor can adjust by oneself according to the light condition in the environment of difference, avoids the influence of environmental factor to the sensor precision.
In order to solve the technical problem, the utility model discloses a technical scheme is:
an infrared optical sensor measuring instrument comprises an infrared sensor, a group of distance detection circuits are formed by two infrared sensors, each distance detection circuit comprises a sending circuit and a receiving circuit, the sending circuits send infrared rays with different intensities, and the receiving circuits receive the infrared rays with different brightness;
the input ends of the sending circuit and the receiving circuit are electrically connected with a voltage regulating circuit, and the output ends of the sending circuit and the receiving circuit are respectively electrically connected with a transmitting transmission circuit and a receiving transmission circuit.
Furthermore, the sending circuit comprises a first infrared transmitting circuit and a second infrared transmitting circuit which are connected in parallel, the receiving circuit comprises a first infrared receiving circuit and a second infrared receiving circuit which are connected in parallel, and the voltage regulating circuit comprises a secondary voltage regulating circuit and a primary voltage regulating circuit;
the primary voltage regulation is a circuit for carrying out voltage reduction once, and the secondary voltage regulation is a circuit for carrying out voltage reduction twice.
Furthermore, the first infrared emission circuit and the second infrared emission circuit are both formed by connecting a light emitting diode and an adjustable resistor in series.
The first infrared receiving circuit and the second infrared receiving circuit are both formed by serially connecting a phototriode and an adjustable resistor.
Furthermore, a near-infrared transmission interface is additionally arranged on the first infrared receiving circuit, and the near-infrared transmission interface is electrically connected with a main control board;
the second infrared receiving circuit is additionally provided with a middle infrared transmission interface which is electrically connected with a main control board
Furthermore, the transmitting circuit is electrically connected with a transmitting transmission circuit, the transmitting transmission circuit comprises an MOS tube, the source electrode of the MOS tube is grounded, and an on-resistance is connected in series between the source electrode and the grid electrode of the MOS tube;
the MOS tube drain electrode is connected with the near-transmitting circuit, and the MOS tube grid electrode is electrically connected with the main control board.
Further, the model of the main control board is STM 32.
Furthermore, the primary voltage regulating circuit comprises a voltage reducing circuit, the input end of the voltage reducing circuit is connected with a power supply, and the output end of the voltage reducing circuit is connected with a voltage stabilizing capacitor in series and then grounded;
the second-stage voltage regulating circuit is formed by connecting two voltage reducing circuits in series, a second RC filter circuit is connected between the two voltage reducing circuits in series, the input ends of the two voltage reducing circuits in series are connected with a first RC filter circuit in series, and the output ends of the two voltage reducing circuits in series are connected with a third RC filter circuit in series.
Furthermore, the voltage reduction circuit comprises a voltage regulation chip U1, a port 2 and a port 7 of the voltage regulation chip U1 are directly grounded, and a port 1, a port 3, a port 5 and a port 6 of the voltage regulation chip U1 are connected in series with a voltage reduction capacitor and then grounded;
and the port 1 and the port 3 of the voltage regulating chip U1 are both connected with a high-voltage input end, and the port 4 of the voltage regulating chip U1 is a low-voltage output end.
Furthermore, the first RC filter circuit, the second RC filter circuit and the third RC filter circuit are all composed of filter resistors and filter capacitors.
Further, infrared sensor installs in maze robot bottom surface, including two infrared sensor towards dead ahead, including two infrared sensor towards the left and right sides respectively, including two infrared sensor towards oblique left side and oblique right side respectively.
The utility model has the advantages and positive effects that:
the variable resistor is connected in series with the light emitting diode and the phototriode in the transmitting circuit and the receiving circuit, when the transmitting circuit and the receiving circuit are put into use, the resistance value of the variable resistor connected into the circuit is adjusted to control the brightness of the light emitting diode and the conduction light intensity of the phototriode in the current environment, the measurement accuracy of the infrared sensor is further controlled, and the measurement accuracy of the infrared sensor cannot be influenced in any environment.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a bottom view structural diagram of a labyrinth robot of an infrared optical sensor measuring instrument of the present invention;
fig. 2 is a first-level voltage regulating circuit diagram of an infrared optical sensor measuring instrument according to the present invention;
fig. 3 is a two-stage voltage regulating circuit diagram of an infrared optical sensor measuring instrument according to the present invention;
fig. 4 is a circuit diagram of distance detection of an infrared optical sensor measuring instrument according to the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The utility model provides an infrared optical sensor measuring apparatu comprises a plurality of infrared sensor 6 jointly, as shown in FIG. 1, FIG. 1 is labyrinth robot's lower view, a plurality of infrared sensor 6 are installed to labyrinth robot bottom surface, and a distance detection circuit is constituteed to two infrared sensor 6, and a distance detection circuit measures the ascending distance of a direction group, if: right ahead, left-right direction or oblique direction. The infrared sensor 6 is installed at the front end of the bottom surface of the maze robot, and in this example, six infrared sensors 6 are installed. The system comprises two infrared sensors 6 facing the front, wherein the two infrared sensors are positioned at the left side and the right side of the labyrinth robot and are used for detecting the distance from the labyrinth robot to a front obstacle; the device also comprises two infrared sensors 6 which respectively face the left side and the right side and are used for conveniently detecting the distance from the maze robot to the barriers on the left side and the right side; and two infrared sensors 6 respectively facing to the oblique left side and the oblique right side are further included, and the two sensors are respectively used for detecting the distances from the maze robot to the left front method and the right front obstacle.
The infrared sensor 6 can be mounted to detect the turning angle of the path in front of the maze robot. If the front path of the labyrinth robot needs to turn, the data of the distance from the labyrinth robot to the front and the distance from the labyrinth robot to the oblique side can be obtained, the obtained data is calculated according to the sine and cosine theorem, the turning angle of the front turning path of the labyrinth robot can be obtained in advance, the automatic turning of the labyrinth robot is realized, and the moving speed of the labyrinth robot is accelerated.
The two infrared sensors 6 jointly form a distance detection circuit shown in fig. 4, the distance detection circuit comprises a sending circuit 7 and a receiving circuit 701, the sending circuit 7 is used for sending infrared rays, the infrared rays are shielded by an obstacle and reflected back to be received by the receiving circuit 701, the distance of infrared rays moving is calculated by acquiring the time value between sending and receiving according to the safety velocity of the infrared rays in the air, the distance from the obstacle to the infrared sensors 6 is further acquired, and the distance from the maze robot to the obstacle is determined.
The input ends of the sending circuit 7 and the receiving circuit 701 are electrically connected with voltage regulating circuits, the voltage regulating circuits comprise a secondary voltage regulating circuit shown in fig. 2 and a primary voltage regulating circuit shown in fig. 3, the primary voltage regulating circuit is a circuit for carrying out voltage reduction only once, and the secondary voltage regulating circuit is a circuit for carrying out voltage reduction twice. The output ends of the transmitting circuit 7 and the receiving circuit 701 are respectively electrically connected with a transmitting transmission circuit 3 and a receiving transmission circuit 301
The sending circuit 7 comprises a first infrared emitting circuit 4 and a second infrared emitting circuit 5 which are connected in parallel, the first infrared emitting circuit 4 and the second infrared emitting circuit 5 are both formed by connecting a light emitting diode and an adjustable emitting resistor in series, and the adjustable emitting resistor adjusts the intensity of infrared rays emitted by the light emitting diode by changing the voltage at two ends of the light emitting diode on the sending circuit through changing the resistance on the circuit.
Because the optical characteristics of different light emitting diodes are different, and because the light emitting diodes and the receivers are optical devices, the characteristics of each infrared emitting tube and each infrared receiving tube are different, the types of the light emitting diodes used in different directions on a real labyrinth robot are different, the resistance value of each group needs to be independently adjusted, and the required luminous intensity is different under different competition environments and natural light intensity, so that a proper matching resistor needs to be selected for different light emitting diodes and different environments, therefore, the light emitting diodes are connected in series with an adjustable resistor, and when in use, the resistance value of the resistor is adjusted to change the voltage at two ends of the light emitting diodes, so that the light emitting diodes can generate infrared rays with different intensities, and obtain more preferable light intensity in different environments, thereby solving the problem of insufficient AD conversion resolution when an upper computer receives, the influence of power and ambient light interference can be considered, and the influence of environmental factors on the accuracy of the sensor is avoided.
The input ends of the first infrared transmitting circuit 4 and the second infrared transmitting circuit 5 are connected with a first-stage voltage regulating circuit, and the first-stage voltage regulating circuit is used for supplying power to the sending circuit 7. Because a common power supply of the labyrinth robot is a 7.4V power supply formed by two single-core (3.7V) lithium batteries, the working voltage of a transmitting circuit 7 of an infrared sensor 6 is 5V, and the specific working voltage of a light-emitting diode is regulated by a variable resistor, only the transmitting circuit 7 needs a stable 5V power supply. One-level voltage regulating circuit is including step-down circuit 1, step-down circuit 1 high-pressure side is connected with the 7.4V power, and 5V voltage is exported to the low pressure end, and ground connection behind the low pressure end series connection voltage stabilizing capacitor, voltage stabilizing capacitor are used for stabilizing the 5V voltage of low pressure end, guarantee that one-level voltage regulating circuit can be stable give 7 power supplies of transmitting circuit.
Step-down circuit 1 is including pressure regulating chip U1, pressure regulating chip U1 port 2 and port 7 direct ground connection, pressure regulating chip U1 port 1, port 3, port 5 and port 6 concatenate electric capacity back ground connection, pressure regulating chip U1 port 1 and port 3 all are connected with the high-voltage end, pressure regulating chip U1's port 4 is the low-voltage end. The circuit is a voltage reduction circuit 1 commonly used in weak current circuits and used for reducing voltage of a high-voltage power supply.
First infrared transmitting circuit 4 and 5 negative poles of second infrared transmitting circuit all are connected with transmission circuit 3, and transmission circuit 3 includes the MOS pipe, MOS pipe source ground connection, all the concatenation has on-resistance between MOS pipe utmost point and the grid, according to on-resistance's size, can control the turn-on voltage of MOS pipe. The drain electrode of the MOS tube is connected with the cathode of the first infrared transmitting circuit 4 and the cathode of the second infrared transmitting circuit 5, the grid electrode of the MOS tube is electrically connected with a main control board, the model of the main control board is STM32, when the light emitting diodes in the first infrared transmitting circuit 4 and the second infrared transmitting circuit 5 work, the MOS tube is conducted, a signal is input into the main control board, the main control board starts timing from the moment, when the receiving circuit 701 receives the reflected infrared ray, the signal is transmitted to the main control board through the receiving and transmitting circuit 301, the main control board stops timing, the recorded time is the time of the infrared ray transmitted in the air, and the distance of the infrared ray transmission is calculated.
The receiving circuit 701 comprises a first infrared receiving circuit 401 and a second infrared receiving circuit 501 which are connected in parallel, the first infrared receiving circuit 401 and the second infrared receiving circuit 501 are both formed by connecting a phototriode and an adjustable receiving resistor in series, and the voltage at two ends of the phototriode is changed by changing the resistance value of the adjustable receiving resistor access circuit so as to change the conduction light intensity of the phototriode and adjust the infrared receiving capability of the receiving circuit 701.
The first infrared receiving circuit 401 and the second infrared receiving circuit 501 are respectively provided with a first infrared transmission interface ADC1 and a second infrared transmission interface ADC4, the first infrared transmission interface ADC1 and the second infrared transmission interface ADC4 are respectively electrically connected to the main control board, and when the phototriode receives the reflected infrared ray, the first infrared transmission interface ADC1 and the second infrared transmission interface ADC4 transmit data to the main control board, so as to give a signal for the main control board to finish timing.
The receiving circuit 701 is powered by a secondary voltage regulating circuit, and the input ends of the first infrared receiving circuit 401 and the second infrared receiving circuit 501 are connected with the secondary voltage regulating circuit. The secondary voltage regulating circuit is formed by connecting two voltage reducing circuits 1 in series, and stable voltage reduction is carried out in a two-stage voltage regulating mode. The second RC filter circuit 202 is connected between the two series voltage reduction circuits 1 in series, the first RC filter circuit 2 is connected to the input ends of the two series voltage reduction circuits 1 in series, the third RC filter circuit 203 is connected to the output ends of the two series voltage reduction circuits 1 in series, and the first RC filter circuit 2, the second RC filter circuit 202 and the third RC filter circuit 203 can record and broadcast the voltage for multiple times.
Because the common power supply of the maze robot selects two single-core (3.7V) lithium batteries to form a 7.4V power supply. The working voltage of the processor chip is 3.3V, the secondary voltage regulating circuit supplies power to the main control board at the same time, in order to ensure the stability of the voltage input into the main control board from the receiving circuit 701, namely, the voltage is stabilized into 5V by 7.4V at first, and then is stabilized into 3.3V by 5V, and the stability of the system is ensured by multi-stage voltage output. When voltage is stably reduced, the voltage is filtered for many times, and the stability of the power supply voltage is improved. Meanwhile, the second-stage voltage regulating circuit also supplies power to the receiving circuit 701, and because of the working characteristics of the phototriode, the phototriode is greatly influenced by ambient light. Because the phototriode has a low working frequency, the attenuation of the AC amplification factor is not considered. Under the condition of stable voltage, the output current is only related to illumination, and the current is converted into measurable voltage by serially connecting adjustable resistors, so that the difference of the resistance values of the adjustable resistors only changes the multiple of the output voltage. In order to widen the output voltage range to make up for the lack of resolution of AD conversion, the resistance of the series adjustable resistor must be increased. However, the influence of ambient light and voltage fluctuation are also amplified, and the absolute value of fluctuation of the output voltage is also increased. In addition, the power consumption is increased due to the increase of the resistance, so that the adjustable resistance is required to be adjusted to a proper resistance value.
As shown in the two-stage voltage regulating circuit of fig. 3, a port 1 of a voltage regulating chip U2 is connected in series with a resistor L1 and a capacitor C7 and then grounded, a 7.4V power supply is connected between the resistor L1 and the capacitor C7, and a resistor L1 and a capacitor C7 form a first RC filter circuit 2; a resistor L2 is connected between the port 4 of the voltage regulating chip U2 and the port 1 of the voltage regulating chip U3 in series, the port 4 of the voltage regulating chip U2 is connected with a capacitor C9 in series and then grounded, and the resistor L2 and the capacitor C9 jointly form a second RC filter circuit 202; the port 4 of the voltage regulating chip U3 is connected in series with the resistor L4 and the capacitor C12 and then grounded, a low-voltage port VDDA is additionally arranged between the resistor L4 and the capacitor C12 and outputs 3.3V voltage, and the resistor L4 and the capacitor C12 jointly form the third RC filter circuit 203. The connection method can carry out multiple filtering on the voltage of the input end and the output end of the voltage reduction circuit 1, and the stability of the output voltage is ensured.
The utility model discloses a theory of operation and working process as follows:
after the maze robot enters the field, the variable resistor on the infrared sensor 6 is adjusted, and multiple detections are carried out. The sending circuit 7 and the receiving circuit 701 jointly form two infrared sensors 6, one infrared sensor 6 comprises an infrared emitting part and an infrared receiving part corresponding to the infrared emitting part, three groups of infrared sensors 6 are installed below the labyrinth robot, one group of infrared sensors 6 comprises two infrared sensors 6, and the directions measured by the three groups of infrared sensors 6 are the front direction, two sides and two oblique sides respectively.
During detection, obstacles are respectively placed at fixed positions of the labyrinth robot corresponding to the measuring direction, the distance value acquired by the infrared sensor 6 is compared with the actual value, meanwhile, the variable transmitting variable resistance and the variable receiving resistance in the corresponding infrared sensor 6 are adjusted, measurement is carried out for multiple times, and the resistance when the distance measured by the infrared sensor 6 is closest to the standard value is taken. The resistance is the most optimal resistance value under the ambient light at the moment, and after the resistances in all sensors on the maze robot are adjusted, the maze robot is put into the track to start the competition.
The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention should be covered by the present patent.
Claims (10)
1. An infrared optical sensor measuring instrument is characterized by comprising a plurality of infrared sensors (6), wherein two infrared sensors (6) form a group of distance detection circuits, each distance detection circuit comprises a sending circuit (7) and a receiving circuit (701), the sending circuit (7) sends out infrared rays with different intensities, and the receiving circuit (701) receives the infrared rays with different brightness;
the input ends of the sending circuit (7) and the receiving circuit (701) are electrically connected with a voltage regulating circuit, and the output ends of the sending circuit (7) and the receiving circuit (701) are respectively electrically connected with a transmitting transmission circuit (3) and a receiving transmission circuit (301).
2. The infrared optical sensor measuring instrument according to claim 1, wherein: the transmitting circuit (7) comprises a first infrared transmitting circuit (4) and a second infrared transmitting circuit (5) which are connected in parallel, the receiving circuit (701) comprises a first infrared receiving circuit (401) and a second infrared receiving circuit (501) which are connected in parallel, and the voltage regulating circuit comprises a primary voltage regulating circuit and a secondary voltage regulating circuit.
3. The infrared optical sensor measuring instrument according to claim 2, characterized in that: the first infrared emitting circuit (4) and the second infrared emitting circuit (5) are both connected in series by a light emitting diode and an adjustable emitting resistor, and the adjustable emitting resistor is used for adjusting the intensity of light emitted by the light emitting diode;
the first infrared receiving circuit (401) and the second infrared receiving circuit (501) are both formed by serially connecting a phototriode and an adjustable receiving resistor, and the adjustable receiving resistor is used for adjusting the intensity of light received by the phototriode.
4. The infrared optical sensor measuring instrument according to claim 2, characterized in that: a near infrared transmission interface (ADC1) is additionally arranged on the first infrared receiving circuit (401), and the near infrared transmission interface (ADC1) is electrically connected with a main control board;
and a middle infrared transmission interface (ADC4) is additionally arranged on the second infrared receiving circuit (501), and the middle infrared transmission interface (ADC4) is electrically connected with a main control board.
5. The infrared optical sensor measuring instrument according to claim 1, wherein: the transmitting circuit (7) is electrically connected with a transmitting transmission circuit (3), the transmitting transmission circuit (3) comprises an MOS (metal oxide semiconductor) tube, the source electrode of the MOS tube is grounded, and an on-resistance is connected between the source electrode and the grid electrode of the MOS tube in series;
the drain electrode of the MOS tube is connected with a near sending circuit (7), and the grid electrode of the MOS tube is electrically connected with a main control board.
6. The infrared optical sensor measuring instrument according to claim 5, wherein: the main control board model is STM 32.
7. The infrared optical sensor measuring instrument according to claim 2, characterized in that: the primary voltage regulating circuit comprises a voltage reducing circuit (1), the input end of the voltage reducing circuit (1) is connected with a power supply, and the output end of the voltage reducing circuit is connected with a voltage stabilizing capacitor in series and then grounded;
the two-stage voltage regulating circuit is formed by connecting two voltage reducing circuits (1) in series, a second RC filter circuit (202) is connected between the two voltage reducing circuits (1) in series, the input ends of the two voltage reducing circuits (1) in series are connected with a first RC filter circuit (2), and the output ends of the two voltage reducing circuits (1) in series are connected with a third RC filter circuit (203).
8. The infrared optical sensor measuring instrument according to claim 7, wherein: the voltage reduction circuit (1) comprises a voltage regulation chip U1, a port 2 and a port 7 of the voltage regulation chip U1 are directly grounded, and a port 1, a port 3, a port 5 and a port 6 of the voltage regulation chip U1 are grounded after being connected with a voltage reduction capacitor in series;
and the port 1 and the port 3 of the voltage regulating chip U1 are both connected with a high-voltage input end, and the port 4 of the voltage regulating chip U1 is a low-voltage output end.
9. The infrared optical sensor measuring instrument according to claim 7, wherein: the first RC filter circuit (2), the second RC filter circuit (202) and the third RC filter circuit (203) are all composed of filter resistors and filter capacitors.
10. The infrared optical sensor measuring instrument according to claim 1, wherein: infrared sensor (6) are installed in maze robot bottom surface, including two infrared sensor (6) towards dead ahead, include two infrared sensor (6) towards the left and right sides respectively, include two infrared sensor (6) towards oblique left side and oblique right side respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120352491.1U CN214427611U (en) | 2021-02-03 | 2021-02-03 | Infrared optical sensor measuring instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120352491.1U CN214427611U (en) | 2021-02-03 | 2021-02-03 | Infrared optical sensor measuring instrument |
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| Publication Number | Publication Date |
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| CN214427611U true CN214427611U (en) | 2021-10-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120352491.1U Active CN214427611U (en) | 2021-02-03 | 2021-02-03 | Infrared optical sensor measuring instrument |
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| CN (1) | CN214427611U (en) |
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- 2021-02-03 CN CN202120352491.1U patent/CN214427611U/en active Active
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