CN103978496A - Ultrasonic sensing circuit for bionic robots - Google Patents
Ultrasonic sensing circuit for bionic robots Download PDFInfo
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- CN103978496A CN103978496A CN201410221949.4A CN201410221949A CN103978496A CN 103978496 A CN103978496 A CN 103978496A CN 201410221949 A CN201410221949 A CN 201410221949A CN 103978496 A CN103978496 A CN 103978496A
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Abstract
The invention belongs to the technical field of robot control circuits and particularly relates to an ultrasonic sensing circuit for bionic robots. The circuit comprises an ultrasonic transmitting module (3) and an ultrasonic receiving module (4). The ultrasonic transmitting module (3) comprises a time base integration circuit chip IC3. A 7 pin of the time base integration circuit chip IC3 is connected with one end of a resistor R7 and the fixed end of an adjustable resistor R8 in parallel to be connected with the movable end of the adjustable resistor R8, and the other end of the resistor R7 is connected with a 2 pin of the time base integration circuit chip IC3 and a 6 pin of the time base integration circuit chip IC3 in parallel to be connected with one end of a capacitor C5. The ultrasonic transmitting module and the ultrasonic receiving module both adopt a low voltage low power consumption direct current circuit, and are low in energy consumption, capable of being used by the bionic robots of various types and high in practicability.
Description
technical field
The invention belongs to robot control circuit technical field, be specially a kind of bio-robot ultrasonic wave sensing circuit.
background technology
Robot is the installations that automatically perform work, it both can accept mankind commander, can move again the program of layout in advance, also can be according to the principle guiding principle action of formulating with artificial intelligence technology, its task is to assist or replace human work's work, for example production industry, building industry, or dangerous work.
Existing most of robot also belongs to a kind of machine that can walk and pronounce in essence, great majority do not have the phy-aware ability that " people " has, do not there is the perceptional function of animal or human body, can not independent judgment people or animal near and judge size, the position etc. of this object, interactivity is poor.
Summary of the invention
The present invention overcomes the deficiency that prior art exists, and technical problem to be solved is: provide a kind of can perceptual object distance and the bio-robot ultrasonic wave sensing circuit of displacement.
The present invention adopts following technical scheme to realize:
A kind of bio-robot ultrasonic wave sensing circuit, comprises ultrasonic wave transmitter module and ultrasonic wave receiver module.
Described ultrasonic wave transmitter module comprises time-base integrated circuit chip IC 3, after a stiff end of 7 pin of described time-base integrated circuit chip IC 3 one end of connecting resistance R7 and adjustable resistance R8, be connected with the movable end of adjustable resistance R8, the other end of described resistance R 7 and connect 2 pin of time-base integrated circuit chip IC 3 and 6 pin of time-base integrated circuit chip IC 3 after be connected with one end of capacitor C 5, the other end ground connection of described capacitor C 5; 8 pin of described time-base integrated circuit chip IC 3 and connect another stiff end of adjustable resistance R8 after be connected with positive source VCC, the rear ground connection of 5 pin serial connection capacitor C 6 of time-base integrated circuit chip IC 3,1 pin ground connection of time-base integrated circuit chip IC 3, is connected with 1 pin of hex inverter IC4 after 3 pin series resistor R9 of time-base integrated circuit chip IC 3.
9 pin of described hex inverter IC4 and connect 11 pin of hex inverter IC4 after be connected with 1 pin of hex inverter IC4,5 pin of 2 pin of hex inverter IC4,3 pin of hex inverter IC4, hex inverter IC4 also connect together, 8 pin of hex inverter IC4 and connect 10 pin of hex inverter IC4 after be connected with one end of capacitor C 7, the other end of described capacitor C 7 is connected with an input of ultrasonic transducer S1,4 pin of described hex inverter IC4 and connect 6 pin of hex inverter IC4 after be connected with another input of ultrasonic transducer S1.
Described ultrasonic wave receiver module comprises acoustic wave transducer S2, behind an output of described acoustic wave transducer S2 one end of connecting resistance R10, be connected with one end of capacitor C 8, ground connection after another output of ultrasonic transducer S2 the other end of connecting resistance R10, is connected with 2 pin of dual operational amplifier IC5 after the other end series resistor R11 of described capacitor C 8.
After the 2 pin series resistor R12 of described dual operational amplifier IC5, be connected with 1 pin of dual operational amplifier IC5, 1 pin of dual operational amplifier IC5 is connected in series successively capacitor C 9 and is connected with 6 pin of dual operational amplifier IC5 after resistance R 13, after the 6 pin series resistor R14 of dual operational amplifier IC5, be connected with 7 pin of dual operational amplifier IC5, one end of the 3 pin shunt-wound capacitance C10 of dual operational amplifier IC5, behind one end of one end of resistance R 15 and resistance R 16, be connected with 5 pin of dual operational amplifier IC5, the equal ground connection of the other end of the other end of described capacitor C 10 and resistance R 15, the other end of described resistance R 16 is connected with positive source VCC.
7 pin of described dual operational amplifier IC5 are connected with the positive input terminal of voltage comparator ic 6; Ground connection after the negative input end series resistor R17 of voltage comparator ic 6, is connected with positive source VCC after the negative input end series resistor R18 of voltage comparator ic 6.
When concrete use, 4 pin of the time-base integrated circuit chip IC 3 in ultrasonic wave transmitter module are connected with the signal output port of main controller module.The output of voltage comparator ic 6 and the signal input port of main controller module in ultrasonic wave receiver module are connected.
It is the chip of NE555 that described time-base integrated circuit chip IC 3 can adopt model, it is the chip of CD4049 that described hex inverter IC4 can adopt model, it is the dual operational amplifier of TL082 that described dual operational amplifier IC5 can adopt model, and it is the voltage comparator chip of LM311 that described voltage comparator ic 6 can adopt model.
Above-mentioned main controller module can adopt existing known products.
Above-mentioned time-base integrated circuit chip IC 3 forms without steady multivibrator, its frequency of oscillation is by adjustable resistance R8, resistance R 7 and capacitor C 5 determine, by regulating adjustable resistance R8 can change frequency of oscillation, the oscillator signal of output promotes ultrasonic transducer S1 sounding through the amplification of hex inverter IC4, 4 pin of time-base integrated circuit chip IC 3 are by main controller module control, in the time that needs are launched ultrasonic signal, this pin is high level, the small-signal that above-mentioned ultrasonic transducer S2 receives, amplify through being ac-coupled to dual operational amplifier IC5, process amplifying signal is again by voltage comparator ic 6 shapings, output signal is received by main controller module, by the ultrasonic wave transmitter module 3 being connected with main controller module, the variation of signal in ultrasonic wave receiver module 4, main controller module can judgment object size, shape, and movement locus and speed etc.
When work, bio-robot can rely on ultrasonic wave transmitter module and ultrasonic wave receiver module judgement particular location and the shape size of animal around by main controller module, comprise: height (size), position, movement velocity etc., make bio-robot there is the perception of " people ", perfect " sensation " function of bio-robot; Described ultrasonic wave transmitter module and ultrasonic wave receiver module all have multiple, and described ultrasonic wave transmitter module and ultrasonic wave receiver module arrange in pairs, can be comprehensive, the detection of the multi-angle information such as position, size and translational speed of object around.
Ultrasonic wave transmitter module and ultrasonic wave receiver module in the present invention all adopt Low-voltage Low-power DC circuit, and energy consumes low, can meet various types of bio-robots and use, practical.
Brief description of the drawings
Fig. 1 is the electrical block diagram of bio-robot.
Fig. 2 is the electrical block diagram of infrared induction module.
Fig. 3 is the electrical block diagram of ultrasonic wave transmitter module.
Fig. 4 is the electrical block diagram of ultrasonic wave receiver module.
In figure: in figure: 1-main controller module, 2-infrared induction module, 3-ultrasonic wave transmitter module, 4-ultrasonic wave receiver module, 5-clock module, 6-memory module, 7-reset control module, 8-power module.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described in detail:
A kind of bio-robot ultrasonic wave sensing circuit, comprises ultrasonic wave transmitter module and ultrasonic wave receiver module.
As shown in Figure 3, the circuit structure of described ultrasonic wave transmitter module 3 is: after a stiff end of 7 pin of time-base integrated circuit chip IC 3 one end of connecting resistance R7 and adjustable resistance R8, be connected with the movable end of adjustable resistance R8, the other end of described resistance R 7 and connect 2 pin of time-base integrated circuit chip IC 3 and 6 pin of time-base integrated circuit chip IC 3 after be connected with one end of capacitor C 5, the other end ground connection of described capacitor C 5; 8 pin of described time-base integrated circuit chip IC 3 and connect another stiff end of adjustable resistance R8 after be connected with positive source VCC, the rear ground connection of 5 pin serial connection capacitor C 6 of time-base integrated circuit chip IC 3,4 pin of time-base integrated circuit chip IC 3 are connected with the signal output port of main controller module 1,1 pin ground connection of time-base integrated circuit chip IC 3, is connected with 1 pin of hex inverter IC4 after 3 pin series resistor R9 of time-base integrated circuit chip IC 3.
9 pin of described hex inverter IC4 and connect 11 pin of hex inverter IC4 after be connected with 1 pin of hex inverter IC4,5 pin of 2 pin of hex inverter IC4,3 pin of hex inverter IC4, hex inverter IC4 also connect together, 8 pin of hex inverter IC4 and connect 10 pin of hex inverter IC4 after be connected with one end of capacitor C 7, the other end of described capacitor C 7 is connected with an input of ultrasonic transducer S1,4 pin of described hex inverter IC4 and connect 6 pin of hex inverter IC4 after be connected with another input of ultrasonic transducer S1.
As shown in Figure 4, the circuit structure of described ultrasonic wave receiver module 4 is: behind an output of acoustic wave transducer S2 one end of connecting resistance R10, be connected with one end of capacitor C 8, ground connection after another output of ultrasonic transducer S2 the other end of connecting resistance R10, is connected with 2 pin of dual operational amplifier IC5 after the other end series resistor R11 of described capacitor C 8.
After the 2 pin series resistor R12 of described dual operational amplifier IC5, be connected with 1 pin of dual operational amplifier IC5, 1 pin of dual operational amplifier IC5 is connected in series successively capacitor C 9 and is connected with 6 pin of dual operational amplifier IC5 after resistance R 13, after the 6 pin series resistor R14 of dual operational amplifier IC5, be connected with 7 pin of dual operational amplifier IC5, one end of the 3 pin shunt-wound capacitance C10 of dual operational amplifier IC5, behind one end of one end of resistance R 15 and resistance R 16, be connected with 5 pin of dual operational amplifier IC5, the equal ground connection of the other end of the other end of described capacitor C 10 and resistance R 15, the other end of described resistance R 16 is connected with positive source VCC.
7 pin of described dual operational amplifier IC5 are connected with the positive input terminal of voltage comparator ic 6; Ground connection after the negative input end series resistor R17 of voltage comparator ic 6, is connected with positive source VCC after the negative input end series resistor R18 of voltage comparator ic 6, and the output of voltage comparator ic 6 is connected with the signal input port of main controller module 1.
When concrete application, above-mentioned ultrasonic circuit is applied in a kind of bio-robot animal sensing circuit, as shown in Figure 1, a kind of bio-robot animal sensing circuit, comprising: main controller module 1, infrared induction module 2, ultrasonic wave transmitter module 3, ultrasonic wave receiver module 4, clock module 5, memory module 6, reset control module 7 and power module 8.
Described main controller module 1 is connected with infrared induction module 2, ultrasonic wave transmitter module 3, ultrasonic wave receiver module 4, clock module 5, memory module 6 and reset control module 7 respectively, and described power module 8 is whole circuit supply.
As shown in Figure 2, the circuit structure of described infrared induction module 2 is: behind one end of the anodal also connecting resistance R1 of power end of infra-red detection sensor IC1, be connected with positive source VCC, behind one end of one end of the other end of described resistance R 1 connecting resistance R2 and capacitor C 1, be connected with the colelctor electrode of NPN type triode Q1, behind one end of the signal output part of described infra-red detection sensor IC1 connecting resistance R3, be connected with one end of capacitor C 2, after the other end of the other end shunt-wound capacitance C2 of described resistance R 2, be connected with the base stage of NPN type triode Q1, ground connection after the emitter stage of the power end negative pole of described infra-red detection sensor IC1 the other end of connecting resistance R3 and NPN type triode Q1.
After the other end series resistor R4 of described capacitor C 1, be connected with the positive input terminal of operational amplifier IC2, behind one end of one end of the negative input end of described operational amplifier IC2 connecting resistance R5 and capacitor C 3, be connected with one end of resistance R 6, the rear ground connection of other end serial connection capacitor C 4 of described resistance R 5, after the other end of the other end of described capacitor C 3 connecting resistance R6, be connected with the output of operational amplifier IC2, the output of described operational amplifier IC2 is connected with the signal input port of main controller module 1.
It is the infrared ray sensor of Q74 that described infra-red detection sensor IC1 can adopt model, described operational amplifier IC2 adopts the operational amplifier chip that model is LM358, when described infra-red detection sensor IC1 detects the infrared signal that front human body or animal body give off, export the faint signal of telecommunication by infra-red detection sensor IC1 signal output part, amplify through composition first order amplifying circuits such as NPN type triode Q1, be input to and in operational amplifier IC2, carry out high-gain by capacitor C 1 again, low noise amplification, the signal of now being exported by operational amplifier IC2 is enough strong, finally this amplifying signal is sent to main controller module, main controller module is through analog-to-digital conversion module, above-mentioned signal is converted into the corresponding signal of telecommunication, the detection needs of bio-robot to infrared signal are met.
Bio-robot can be surveyed people or animal around by infrared induction module 2, rely on ultrasonic wave transmitter module 3 and ultrasonic wave receiver module 4 to judge particular location and the shape size of people or animal simultaneously, can obtain and comprise: the information such as height (size), position, movement velocity, make bio-robot there is the perception of " people ", perfect " sensation " function of bio-robot; Described infrared induction module 2, ultrasonic wave transmitter module 3 and ultrasonic wave receiver module 4 all have multiple, described ultrasonic wave transmitter module 3 and ultrasonic wave receiver module 4 arrange in pairs, can be comprehensive, the detection of the multi-angle information such as position, size and translational speed of object around.
When concrete enforcement, described infra-red detection sensor IC1 adopts the infrared ray sensor that model is Q74; Described operational amplifier IC2 adopts the operational amplifier chip that model is LM358.
It is the chip of NE555 that described time-base integrated circuit chip IC 3 adopts model, and described hex inverter IC4 adopts the chip that model is CD4049.
Described dual operational amplifier IC5 adopts the dual operational amplifier that model is TL082, and it is the voltage comparator chip of LM311 that described voltage comparator ic 6 adopts model.
Above-mentioned main controller module 1, clock module 5, memory module 6, reset control module 7 and power module 8 all can directly be bought and obtain.
Above-mentioned positive source VCC can adopt+dc source below 36V, employing+12V power supply in this detailed description of the invention, above-mentioned components and parts are Low-voltage Low-power direct current components and parts, energy consumes low, can be fine the short slab problem of adaptation robot existing power supply, can meet various types of bio-robots and use, practical.
Claims (2)
1. a bio-robot ultrasonic wave sensing circuit, comprises ultrasonic wave transmitter module (3) and ultrasonic wave receiver module (4);
It is characterized in that: described ultrasonic wave transmitter module (3) is connected with the movable end of adjustable resistance R8 after comprising a stiff end of 7 pin of time-base integrated circuit chip IC 3 described in time-base integrated circuit chip IC 3 one end of connecting resistance R7 and adjustable resistance R8, the other end of described resistance R 7 and connect 2 pin of time-base integrated circuit chip IC 3 and 6 pin of time-base integrated circuit chip IC 3 after be connected with one end of capacitor C 5, the other end ground connection of described capacitor C 5, 8 pin of described time-base integrated circuit chip IC 3 and connect another stiff end of adjustable resistance R8 after be connected with positive source VCC, the rear ground connection of 5 pin serial connection capacitor C 6 of time-base integrated circuit chip IC 3, 1 pin ground connection of time-base integrated circuit chip IC 3, after 3 pin series resistor R9 of time-base integrated circuit chip IC 3, be connected with 1 pin of hex inverter IC4, 9 pin of described hex inverter IC4 and connect 11 pin of hex inverter IC4 after be connected with 1 pin of hex inverter IC4,5 pin of 2 pin of hex inverter IC4,3 pin of hex inverter IC4, hex inverter IC4 also connect together, 8 pin of hex inverter IC4 and connect 10 pin of hex inverter IC4 after be connected with one end of capacitor C 7, the other end of described capacitor C 7 is connected with an input of ultrasonic transducer S1,4 pin of described hex inverter IC4 and connect 6 pin of hex inverter IC4 after be connected with another input of ultrasonic transducer S1,
Described ultrasonic wave receiver module (4) comprises acoustic wave transducer S2, behind an output of described acoustic wave transducer S2 one end of connecting resistance R10, be connected with one end of capacitor C 8, ground connection after another output of ultrasonic transducer S2 the other end of connecting resistance R10, is connected with 2 pin of dual operational amplifier IC5 after the other end series resistor R11 of described capacitor C 8, after the 2 pin series resistor R12 of described dual operational amplifier IC5, be connected with 1 pin of dual operational amplifier IC5, 1 pin of dual operational amplifier IC5 is connected in series successively capacitor C 9 and is connected with 6 pin of dual operational amplifier IC5 after resistance R 13, after the 6 pin series resistor R14 of dual operational amplifier IC5, be connected with 7 pin of dual operational amplifier IC5, one end of the 3 pin shunt-wound capacitance C10 of dual operational amplifier IC5, behind one end of one end of resistance R 15 and resistance R 16, be connected with 5 pin of dual operational amplifier IC5, the equal ground connection of the other end of the other end of described capacitor C 10 and resistance R 15, the other end of described resistance R 16 is connected with positive source VCC, 7 pin of described dual operational amplifier IC5 are connected with the positive input terminal of voltage comparator ic 6, ground connection after the negative input end series resistor R17 of voltage comparator ic 6, is connected with positive source VCC after the negative input end series resistor R18 of voltage comparator ic 6.
2. bio-robot according to claim 1 ultrasonic wave sensing circuit, is characterized in that: it is the chip of NE555 that described time-base integrated circuit chip IC 3 adopts model; Described hex inverter IC4 adopts the chip that model is CD4049; Described dual operational amplifier IC5 adopts the dual operational amplifier that model is TL082; It is the voltage comparator chip of LM311 that described voltage comparator ic 6 adopts model.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106885625A (en) * | 2017-03-14 | 2017-06-23 | 杭州电子科技大学 | A kind of ultrasonic wave acoustic pressure and frequency measurement circuit |
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