CN2551300Y

CN2551300Y - Full-autonomous football robot

Info

Publication number: CN2551300Y
Application number: CN 02274643
Authority: CN
Inventors: 洪炳镕; 申庆撤; 高庆吉; 黄庆成
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2002-08-06
Filing date: 2002-08-06
Publication date: 2003-05-21
Anticipated expiration: 2012-08-06

Abstract

The utility model discloses a fully autonomous soccer robot, and relates to a high intellectualized robot. The high intellectualized robot comprises a robot main body, a walking device, and a kicking device, and also comprises an environment sensing device composed of a rotating camera, a fixed camera, an ultrasonic sensor probe, and an ultrasonic sensor board, a behavior decision making device composed of a main board and a hard disk, a communication network device composed of a bus conversion board and a wireless network card, and a motion control device composed of a motor control board. The devices are respectively installed on the grid layer of the main body. The robot has the flow direction of information that firstly, environment information obtained from the environment sensing device is inputted to the behavior decision making device, and then the behavior command signal generated by the behavior decision making device is inputted to the motion control device, and finally, a series of control signals generated by the motion control device control the robot to make concrete motion. The robot can not only singly work, but also complete tasks which cannot be completed by one robot through coordination and cooperation.

Description

Full-automatic football robot

Technical field: the utility model relates to a kind of high-intelligentization robot.

Background technology: since 1996 carried out FIRA, Robot Soccer Team all was to adopt half autonomous humanoid robot.The problem that this robot exists be the robotic vision system with decision system not on robot body, but on the central controlled main control computer of each team, so this robot is actually the little car of the subordinate of being controlled by main control computer.So though this Soccer robot reflects the coordination and cooperation technology of a plurality of robots, but the unaware of each robot own, decision-making and wireless communication function, thereby can't reach the same evolution with human team, and robot itself is difficult to be applied to other field.

Summary of the invention: the utility model provides a kind of full-automatic football robot, and robot of the present utility model has solved existing robot can't reach problem with the same evolution of human team because of self unaware, decision-making and wireless communication function.Running gear and ball-kicking device that full-automatic football robot of the present utility model comprises robot body 17 and is arranged on robot body 17 bottoms, and power panel 5 and battery pack 6, running gear comprises left driving wheel motor 11 and the right driving wheel motor 12 that drives the left and right sidesing driving wheel rotation, ball-kicking device includes the motor 13 of playing football that drives flap 22 rotations of playing football, full-automatic football robot of the present utility model also includes environmental perception device, behaviour decision-making device, communicator and motion control device, a, environmental perception device is by rotary camera 16, fixed cameras 15, ultrasonic sensor probe 14, ultrasonic sensor plate 10 is formed, rotary camera 16 is installed in the top of robot body 17, and fixed cameras 15 is fixedly connected on the front side portion of robot body 17.Every pair of ultrasonic sensor probe 14 is made up of a transmitting probe 14-1 and a receiving transducer 14-2, is fixed with a pair of ultrasonic sensor probe 14 at least at the outer surface of robot body 17; B, behaviour decision-making device are made up of motherboard 3, hard disk 4, and motherboard 3, hard disk 4 are installed in respectively in the compartment on robot body 17 tops; C, communicator are made up of bus change-over panel and wireless network card 2, and bus change-over panel and wireless network card 2 are installed in the compartment at robot body 17 tops; D, motion control device are Electric Machine Control plates 9, and Electric Machine Control plate 9 is installed in the middle part of robot body 17; The signal output part of rotating camera 16 connects the signal input part of motherboard 3, the bus signals end of bus change-over panel and wireless network card 2 is connected with the EBI end of motherboard 3, the data wire of hard disk 4 is connected respectively with address wire with the data wire of motherboard 3 with address wire, the power output end of power panel 5 is connected with the power input of hard disk 4, the power output end of power panel 5 is connected with the power input of motherboard 3, the power input of power panel 5 is connected with the power output end of battery pack 6, the signal output part of fixed cameras 15 is connected with the signal input part of motherboard 3, the power input of Electric Machine Control plate 9 is connected with the power output end of battery pack 6, the signal input part of Electric Machine Control plate 9 is connected with the signal output part of motherboard 3, the signal output part of Electric Machine Control plate 9 respectively with left driving wheel motor 11, the signal input part of the right driving wheel motor 12 and the motor 13 of playing football is connected; The power input of ultrasonic sensor plate 10 is connected with the power output end of power panel 5, the signal output part of ultrasonic sensor plate 10 is connected with the signal input part of motherboard 3, the signal input part of ultrasonic sensor plate 10 is connected with the receiving transducer 14-2 of ultrasonic sensor probe 14, and the signal output part of ultrasonic sensor plate 10 is connected with the transmitting probe 14-1 of ultrasonic sensor probe 14.The environmental perception device of this full-automatic football robot is the required key modules of Based Intelligent Control, it is equivalent to people's eyes, the same with the people have only judge surrounding environment clearly, just can make behaviour decision making, environmental perception device is at first discerned ball and other robot for this reason, and after ball and goal positioned, give behaviour decision-making device with the environmental information of judging.Behaviour decision-making device is the knowledge base of a robot, the environmental information decision that it is sent here according to environmental perception device under what conditions, when play football various actions such as how to play football.Communicator, it is the required key modules of the mutual coordination and cooperation of a plurality of robots, it is equivalent to people's ear and mouth, its main application is to make each robot understand the other side's intention and hope mutually by communication, determine next step action, adopt wireless communication system to make coordination between the robot.Motion control device is the nervous system of a robot, it be control according to the decision information that behaviour decision-making device is sent here how to play football exactly, how concrete action such as accelerated motion.In the full-automatic football robot of the present utility model, the flow direction of information is: at first the information that obtains environment from " environmental perception device " is input to " behaviour decision-making device ", the behavior command signal of " behaviour decision-making device " generation is input to " motion control device " then, and a series of control signals that last " motion control device " produces are controlled robot and done concrete action.This autonomous robot is the high-intelligentization robot that is used for playing football, after it uses " vision system " to look for ball, location as the people, with " brain decides action such as how to shoot, how to keep goal.Information is intercoursed by radio circuit by this robot simultaneously, on the basis of understanding the other side's intention, finish coordination of tasks such as attack or defence by mutual coordination and cooperation, therefore this robot can also be used in the unmanned transport operation of production line except playing football, or be used for the army of robot of following unmanned war, perhaps be used for fire brigade of robot etc.Full autonomous soccer robot of the present utility model can be finished as the people and pass and play football, and can make team of robot reach the same evolution with human team, and this robot can be applied in the every field.This robot not only can work independently, and by coordination and cooperation finish a robot the task of can not finishing, so it is of wide application.

Description of drawings: Fig. 1 is the perspective view of the utility model full-automatic football robot front side, Fig. 2 is the perspective view of the utility model full-automatic football robot rear side, Fig. 3 is a full-automatic football robot integrated circuit structural representation of the present utility model, Fig. 4 is the electrical block diagram of the specific embodiment two, and Fig. 5 is the electrical block diagram of the specific embodiment three.

The specific embodiment one: the full-automatic football robot of present embodiment is made up of robot body 17, running gear, ball-kicking device, environmental perception device, behaviour decision-making device, communicator, motion control device, remote keypad and display floater 1, battery pack 6 and power panel 5.Environmental perception device is made up of rotary camera 16, fixed cameras 15, ultrasonic sensor probe 14, ultrasonic sensor plate 10.Behaviour decision-making device is made up of motherboard 3, hard disk 4.Communicator is made up of bus change-over panel and wireless network card 2.Motion control device is an Electric Machine Control plate 9.The signal output part of rotating camera 16 is connected with the video signal input terminal of motherboard 3, the bus signals end of bus change-over panel and wireless network card 2 is connected with the signal bus interface end of motherboard 3, the data wire of hard disk 4 is connected respectively with address wire with the data wire of motherboard 3 with address wire, the power output end of power panel 5 is connected with the power input of motherboard 3, the power input of power panel 5 is connected with the power output end of battery pack 6, the signal output part of fixed cameras 16 is connected with the signal input part of motherboard 3, the power input of Electric Machine Control plate 9 is connected with the power output end of battery pack 6, the signal input part of Electric Machine Control plate 9 is connected with the signal output part of motherboard 3, the signal output part of Electric Machine Control plate 9 respectively with left driving wheel motor 11, the signal input part of the right driving wheel motor 12 and the motor 13 of playing football is connected; The power input of ultrasonic sensor plate 10 is connected with the power output end of power panel 5, the signal output part of ultrasonic sensor plate 10 is connected with the signal input part of motherboard 3, the signal input part of ultrasonic sensor plate 10 is connected with eight receiving transducer 14-2 of ultrasonic sensor probe 14, the signal input part of ultrasonic sensor plate 10 is connected with eight transmitting probe 14-1 of ultrasonic sensor probe 14, and the signal input part of remote keypad and display floater 1 is connected with motherboard 3.Be provided with nine compartments in the robot body 17 from bottom to top, be provided with running gear and ball-kicking device in the first compartment 17-1 of bottommost, running gear is made up of left drive motors 11, right drive motors 12, belt drive unit 18, left driving wheel 19, right driving wheel 20, guide wheel 21, left side drive motors 11 is connected left driving wheel 19 and right driving wheel 20 through one group of belt drive unit 18 respectively with right drive motors 12, and guide wheel 21 is arranged on the middle place, front side of robot body 17 bottoms.Ball-kicking device is made up of the play football flap 22 and the motor 13 of playing football, the flap 22 of playing football is arranged on lower end, robot body 17 front side, the flap 22 of playing football is connected with the main shaft of the motor 13 of playing football, the saddle 23 of playing football of fixedlying connected with robot body 17 each side being provided with of the flap 22 of playing football.The front side that is provided with battery pack 6, the second interlayer 17-2 in the second compartment 17-2 of robot body 17 is fixed with video camera 15; Outer surface at the 3rd compartment 17-3 is fixed with eight pairs of sensor probes 14, and every pair of sensor probe is made up of a transmitting probe 14-1 and a receiving transducer 14-2; In the 4th compartment 17-4, be provided with Electric Machine Control plate 9; On the 5th compartment 17-5, be provided with power panel 5; On the 6th compartment 17-6, be provided with hard disk 4 and ultrasonic sensor plate 10; On the 7th compartment 17-7, also be provided with motherboard 3; On the 8th compartment 17-8, be provided with bus change-over panel and wireless network card 2; On the 9th compartment 17-9, also be provided with remote keypad and display floater 1.Be provided with rotary camera 16 at the top of robot body 17.The robot body 17 of said structure has that compact conformation, each parts are easy for installation and maintenance, jamproof advantage.

The specific embodiment two: as shown in Figure 4, Electric Machine Control plate 9 is by programmable logic device IC in the specific embodiment one ₁, three precision positions control chip IC ₂, IC ₃, IC ₄, three H-bridges drive chip IC ₅, IC ₆, IC ₇, six capacitor C ₁-C ₆Form programmable logic device IC ₁Select the AT22LV10-20DC model for use, precision positions control chip IC ₂, IC ₃, IC ₄Select the LM629N-6 model for use, the H-bridge drives chip IC ₅, IC ₆, IC ₇Select the LMD18200T model for use, IC ₁The IN0/CLK pin and the B of the PC/104 bus of motherboard 3 ₁₄Pin is connected, IC ₁Address wire IN ₁～IN ₁₀Address wire A with the PC/104 bus of motherboard 3 ₃₁～A ₂₂Correspondence is connected one by one respectively, IC ₁IN ₁₁Pin is unsettled, IC ₁IO ₁Pin and IC ₂Input CS pin be connected IC ₁IO ₂Pin and IC ₃Input CS pin be connected IC ₁IO ₃Pin and IC ₄Input CS pin be connected IC ₁IO ₄Pin and IC ₂, IC ₃, IC ₄The PS pin be connected IC ₁IO ₆Pin and IC ₂, IC ₃, IC ₄The RST pin be connected IC ₁IO ₅, IO ₇, IO ₈, IO ₉, IO ₁₀Pin is unsettled, IC ₂, IC ₃, IC ₄The HI pin unsettled, IC ₂, IC ₃, IC ₄Data wire bus D ₀-D ₇Data wire A with the PC/104 bus of motherboard 3 ₂-A ₉Connect one to one IC respectively ₂, IC ₃, IC ₄The RD pin all with the address wire B of the PC/104 bus of motherboard 3 _I4Pin is connected, IC ₂, IC ₃, IC ₄The WR pin all with the address wire B of the PC/104 bus of motherboard 3 ₁₃Pin is connected, IC ₂, IC ₃, IC ₄The CLK pin unsettled, IC ₂, IC ₃, IC ₄PWM SIGN pin and PWM MAG pin respectively with corresponding IC ₅, IC ₆, IC ₇DIR IN pin be connected IC with PWM IN pin correspondence ₅, IC ₆, IC ₇CURRENT SENSE pin and THERMAL FLAG pin unsettled, IC ₅, IC ₆, IC ₇BRAKE pin ground connection all; IC ₅BS ₁Foot meridian capacitor C ₁Be connected IC with the control signal input anode of left driving wheel motor 11 ₅OUT ₁Pin is connected IC with the control signal input anode of left driving wheel motor 11 ₅OUT ₂Pin is connected IC with the control signal input cathode of left driving wheel motor 11 ₅BS ₂Foot meridian capacitor C ₂Be connected with the control signal input cathode of left driving wheel motor 11; IC ₆BS ₁Foot meridian capacitor C ₃Be connected IC with the control signal input anode of the motor 13 of playing football ₆OUT ₁Pin is connected IC with the control signal input anode of the motor 13 of playing football ₆OUT ₂Pin is connected IC with the control signal input cathode of the motor 13 of playing football ₆BS ₂Foot meridian capacitor C ₄Be connected with the control signal input cathode of the motor 13 of playing football; IC ₇BS ₁Foot meridian capacitor C ₅Be connected IC with the control signal input anode of right driving wheel motor 12 ₇OUT ₁Pin is connected IC with the control signal input anode of right driving wheel motor 12 ₇OUT ₂Pin is connected IC with the control signal input cathode of right driving wheel motor 12 ₇BS ₂Foot meridian capacitor C ₆Be connected with the control signal input cathode of right driving wheel motor 12; Motor rotation information output A, the B of left driving wheel motor 11 holds respectively and IC ₂Signal input part A, B pin correspondence be connected, motor rotation information output A, the B of the motor 13 of playing football end is respectively and IC ₃Signal input part A, B pin correspondence be connected, motor rotation information output A, the B of right driving wheel motor 12 end is respectively and IC ₄Signal input part A, B pin correspondence be connected.Motor-driven plate acp chip adopts LM629 model precision positions control chip, exportable PWM (pulse width modulating signal) control signal, and the feedback signal that receives incremental encoder realizes closed-loop control.Drive chip and adopt LMD18200 model H-bridge to drive chip, can realize the PWM of LM629 output is carried out power amplification, so that drive the servo control mechanism etc. that direct current generator, brushless DC servomotor and other have accumulation incremental counter feedback signal.PLD GAL22V10 can replace a plurality of discrete components, realizes the requirement of control bus logic and sequential.Electric Machine Control plate 9 has following characteristics: (1) control bus adopts PC/104, highly versatile; (2) have position and speed control mode, motion process medium velocity, target location and control parameter can be adjusted; (3) carry out PID control easily; (4) control method is simple, has wide range of applications.

The acp chip that ultrasonic sensor plate 10 adopts is the microprocessor 78E58 that produces with the compatible fully Taiwan Hua Bang company of MCS51 series monolithic, mainly finishes the control of generation, the ultrasonic wave receiving sensor of control, the 40KHz square-wave pulse of ultrasonic wave emission sensor, writes down and read emission ultrasonic wave and receive the time difference of echo and the data that record are sent to motherboard 3 by standard RS232 serial communication interface in turn.In addition, also have serial ports proprietary extensions chip MAX232 on the ultrasonic sensor plate 10, finish the conversion of Transistor-Transistor Logic level to RS232 serial communication level.Eight path analoging switch CD4051 finish eight of eight road ultrasonic echos and select a function.Amplifier LF412 realizes the amplification of the small and weak signal of echo, and photoelectrical coupler HP2630 realizes the isolation of digital circuit and analog circuit.Audio coding chip LM567 realizes the detection function of ultrasonic echo etc.This circuit has following characteristics: (1) adopts isolation technology to eliminate interference, and it is more reliable to work; (2) maximum can go the rounds to measure the distance of eight directions, and the interchannel isolation is good; (3) adopt eight to select an analog switch to simplify circuit design, cost is low; (4) measuring speed is fast, and is applied widely.

Claims

1, full-automatic football robot, running gear and ball-kicking device that it comprises robot body (17) and is arranged on robot body (17) bottom, and power panel (5) and battery pack (6), running gear comprises left driving wheel motor (11) and the right driving wheel motor (12) that drives the left and right sidesing driving wheel rotation, ball-kicking device includes the motor of playing football (13) that drives flap (22) rotation of playing football, it is characterized in that it also includes environmental perception device, behaviour decision-making device, communicator and motion control device, a, environmental perception device is by rotary camera (16), fixed cameras (15), ultrasonic sensor probe (14), ultrasonic sensor plate (10) is formed, rotary camera (16) is installed in the top of robot body (17), fixed cameras (15) is fixedly connected on the sidepiece of robot body (17), every pair of ultrasonic sensor probe (14) is made up of a transmitting probe (14-1) and a receiving transducer (14-2), is fixed with a pair of ultrasonic sensor probe (14) at least at the outer surface of robot body (17); B, behaviour decision-making device are made up of motherboard (3), hard disk (4), and motherboard (3), hard disk (4) are installed in respectively in the different compartments on robot body (17) top; C, communicator are made up of bus change-over panel and wireless network card (2), and bus change-over panel and wireless network card (2) are installed in the compartment at robot body (17) top; D, motion control device are Electric Machine Control plates (9), and Electric Machine Control plate (9) is installed in the middle part of robot body (17).

2, full-automatic football robot according to claim 1 is characterized in that being provided with in the robot body (17) nine compartments from bottom to top.

3, full-automatic football robot according to claim 1, it is characterized in that running gear is made up of left drive motors (11), right drive motors (12), belt drive unit (18), left driving wheel (19), right driving wheel (20), guide wheel (21), left side drive motors (11) is connected left driving wheel (19) and right driving wheel (20) through one group of belt drive unit (18) respectively with right drive motors (12), and guide wheel (21) is arranged on the middle place, front side of robot body (17) bottom.

4, full-automatic football robot according to claim 1, it is characterized in that ball-kicking device is made up of flap of playing football (22) and the motor of playing football (13), the flap (22) of playing football is arranged on robot body (17) lower end, front side, and the flap of playing football (13) is connected with the main shaft of the motor of playing football (13).

5, full-automatic football robot according to claim 1 is characterized in that the saddle of playing football (23) of fixedlying connected with robot body (17) each side being provided with of the flap of playing football (22).

6, full-automatic football robot according to claim 1 is characterized in that also being provided with remote keypad and display floater (1) on the 9th compartment (17-9) of robot body (17).

7, full-automatic football robot according to claim 1 is characterized in that Electric Machine Control plate (9) is by programmable logic device IC ₁, three precision positions control chip IC ₂, IC ₃, IC ₄, three H-bridges drive chip IC ₅, IC ₆, IC ₇, six capacitor C ₁-C ₆Form IC ₁The IN0/CLK pin and the B of the PC/104 bus of motherboard (3) ₁₄Pin is connected, IC ₁Address wire IN ₁～IN ₁₀Address wire A with the PC/104 bus of motherboard 3 ₃₁～A ₂₂Correspondence is connected one by one respectively, IC ₁IO ₁Pin and IC ₂Input CS pin be connected IC ₁IO ₂Pin and IC ₃Input CS pin be connected IC ₁IO ₃Pin and IC ₄Input CS pin be connected IC ₁IO ₄Pin and IC ₂, IC ₃, IC ₄The PS pin be connected IC ₁IO ₆Pin and IC ₂, IC ₃, IC ₄The RST pin be connected IC ₂, IC ₃, IC ₄Data wire bus D ₀-D ₇Data wire A with the PC/104 bus of motherboard (3) ₂-A ₉Connect one to one IC respectively ₂, IC ₃, IC ₄The RD pin all with the address wire B of the PC/104 bus of motherboard (3) ₁₄Pin is connected, IC ₂, IC ₃, IC ₄The WR pin all with the address wire B of the PC/104 bus of motherboard (3) ₁₃Pin is connected, IC ₂, IC ₃, IC ₄The PWMSIGN pin and PWM MAG pin respectively with corresponding IC ₅, IC ₆, IC ₇DIR IN pin be connected IC with PWM IN pin correspondence ₅, IC ₆, IC ₇BRAKE pin ground connection all; IC ₅BS ₁Foot meridian capacitor C ₁Be connected IC with the control signal input anode of left driving wheel motor (11) ₅OUT ₁Pin is connected IC with the control signal input anode of left driving wheel motor (11) ₅OUI ₂Pin is connected IC with the control signal input cathode of left driving wheel motor (11) ₅BS ₂Foot meridian capacitor C ₂Be connected with the control signal input cathode of left driving wheel motor (11); IC ₆BS ₁Foot meridian capacitor C ₃Be connected IC with the control signal input anode of the motor of playing football (13) ₆OUT ₁Pin is connected IC with the control signal input anode of the motor of playing football (13) ₆OUT ₂Pin is connected IC with the control signal input cathode of the motor of playing football (13) ₆BS ₂Foot meridian capacitor C ₄Be connected with the control signal input cathode of the motor of playing football (13); IC ₇BS ₁Foot meridian capacitor C ₅Be connected IC with the control signal input anode of right driving wheel motor (12) ₇OUT ₁Pin is connected IC with the control signal input anode of right driving wheel motor (12) ₇OUT ₂Pin is connected IC with the control signal input cathode of right driving wheel motor (12) ₇BS ₂Foot meridian capacitor C ₆Be connected with the control signal input cathode of right driving wheel motor (12); Motor rotation information output A, the B of left driving wheel motor (11) holds respectively and IC ₂Signal input part A, B pin correspondence be connected, motor rotation information output A, the B of the motor of playing football (13) end is respectively and IC ₃Signal input part A, B pin correspondence be connected, motor rotation information output A, the B of right driving wheel motor (12) end is respectively and IC ₄Signal input part A, B pin correspondence be connected.

8, full-automatic football robot according to claim 1, is characterized in that ultrasonic sensor plate (10) is by eight path analoging switch IC₈, single-chip microcomputer IC₉, the audio coding chip IC₁₀, the special-purpose level conversion chip IC of serial ports₁₁, 32 resistance R₁-R ₃₂, 12 capacitor C₇-C ₁₈, amplifier M₁、M ₂, six photoelectrical coupler G₁-G ₆, two potentiometer W₁、W ₂, eight triode H₁-H ₈With crystal oscillator V₁Form IC₈Input end of analog signal 0-7 pin connect respectively the signal output part of eight ultrasonic wave receiving transducer 14-2, IC₈Signal output part DTH pin meet photoelectrical coupler G₁Signal output part, G₁Two power end tap resistance R₁、R ₅An end, R₁、R ₅Another termination+Ec, G₁Signal input part meets IC₉The P13 pin, IC₈Address wire A pin meet photoelectrical coupler G₂Signal output part, G₂Two power end tap resistance R₂、R ₆An end, R₂、R ₆Another termination+Ec, G₂Signal input part meets IC₉The P1.2 pin, IC₈Address wire B pin meet photoelectrical coupler G₃Signal output part, G₃Two power end tap resistance R₃、R ₇An end, R₃、R ₇Another termination+Ec, G₃Signal input part meets IC₉P_1.1Pin, IC₈Address wire C pin meet photoelectrical coupler G₄Signal output part, G₄Two power end tap resistance R₄、R ₈An end, R₄、R ₈Another termination+Ec, G₄Signal input part meets IC₉P_1.0Pin, IC₉XTAL₁Pin and XTAL₂Pin tap crystal oscillator V₁Two ends, capacitor C₁₃A termination V₁An end, capacitor C₁₃Other end ground connection, capacitor C₁₂A termination V₁The other end, capacitor C₁₂Other end ground connection, IC₉Signal output part TxD pin meet IC₁₁Level signal input 10 pin, IC₉Signal input part RxD pin meet IC₁₁Level signal output 9 pin, IC₁₁4 pin, 5 pin tap capacitor C₁₆Two ends, IC₁₁2 foot meridian capacitor C₁₄Meet+Ec IC₁₁1 pin, 3 pin tap capacitor C₁₅Two ends, IC₁₁6 foot meridian capacitor C₁₈Ground connection, IC₁₁Signal output part 7 pin, 8 pin connect the RS232 port of motherboard (3); IC₉The RST pin connect capacitor C₁₇One end and resistance R₁₈An end, C₁₇Another termination+Ec, R₁₈Other end ground connection, IC₉Control signal output P₂₀Pin is through resistance R₁₆Meet triode H₁Base stage, H₁Colelctor electrode sending and receiving signal input part and the resistance R of penetrating probe (14-1)₁₇An end, R₁₇Another termination+Ec, triode H₁Grounded emitter; IC₉Control signal output P₂₁Pin is through resistance R₁₉Meet triode H₂Base stage, H₂Colelctor electrode sending and receiving signal input part and the resistance R of penetrating probe (14-1)₂₀An end, R₂₀Another termination+Ec, triode H₂Grounded emitter; IC₉Control signal output P₂₂Pin is through resistance R₂₁Meet triode H₃Base stage, H₃Colelctor electrode sending and receiving signal input part and the resistance R of penetrating probe (14-1)₂₂An end, R₂₂Another termination+Ec, triode H₃Grounded emitter; IC₉Control signal output P₂₃Pin is through resistance R₂₃Meet triode H₄Base stage, H₄Colelctor electrode sending and receiving signal input part and the resistance R of penetrating probe (14-1)₂₄An end, R₂₄Another termination+Ec, triode H₄Grounded emitter; IC₉Control signal output P₂₄Pin is through resistance R₂₅Meet triode H₅Base stage, H₅Colelctor electrode sending and receiving signal input part and the resistance R of penetrating probe (14-1)₂₆An end, R₂₆Another termination+Ec, triode H₅Grounded emitter; IC₉Control signal output P_2.5Pin is through resistance R₂₇Meet triode H₆Base stage, H₆Colelctor electrode sending and receiving signal input part and the resistance R of penetrating probe (14-1)₂₈An end, R₂₈Another termination+Ec, triode H₆Grounded emitter; IC₉Control signal output P_2.6Pin is through resistance R₂₉Meet triode H₇Base stage, H₇Colelctor electrode sending and receiving signal input part and the resistance R of penetrating probe (14-1)₃₀An end, R₃₀Another termination+Ec, triode H₇Grounded emitter; IC₉Control signal output P_2.7Pin is through resistance R₃₁Meet triode H₈Base stage, H₈The colelctor electrode sending and receiving penetrate the probe 14-1 signal input part and resistance R₃₂An end, R₃₂Another termination+Ec, triode H₈Grounded emitter; Eigth bit analog switch I C₈The I/O pin connect capacitor C₇An end, C₇Another termination potentiometer W₁A stiff end, W₁Another stiff end and sliding end connecting resistance R₉An end and amplifier M₁Inverting input, M₁In-phase input end ground connection, R₉Another termination M₁Output, resistance R₁₀An end and capacitor C₈An end, R₁₀Another termination amplifier M₂Inverting input and resistance R₁₁An end, M₂In-phase input end ground connection, M₂Output connecting resistance R₁₁The other end and photoelectrical coupler G₅Signal input part, G₅Two power input tap resistance R₁₄、R ₁₅An end, R₁₄、R ₁₅Another termination+Ec, G₅Signal output part meet IC₉T₀Pin, capacitor C₈Another termination audio coding chip IC₁₀Signal input part 3 pin, IC₁₀1 foot meridian capacitor C₉Ground connection, IC₁₀2 foot meridian capacitor C₁₀Ground connection, IC₁₀5 pin meet potentiometer W₂A stiff end, W₂Another stiff end and slip termination IC₁₀6 pin and capacitor C₁₁One end, C₁₁Other end ground connection, IC₁₀Signal output part 8 pin meet photoelectrical coupler G₆Signal input part, G₆Two power ends connecting resistance R respectively₁₂、R ₁₃An end, R₁₂、R ₁₃The other end+Ec, G₆Signal output part meet IC₉INT₀Pin.