CN108983246A - A kind of obstacle detector of infrared modulated, detection method and robot - Google Patents
A kind of obstacle detector of infrared modulated, detection method and robot Download PDFInfo
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- CN108983246A CN108983246A CN201810877846.1A CN201810877846A CN108983246A CN 108983246 A CN108983246 A CN 108983246A CN 201810877846 A CN201810877846 A CN 201810877846A CN 108983246 A CN108983246 A CN 108983246A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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Abstract
The present invention discloses obstacle detector, detection method and the robot of a kind of infrared modulated, the obstacle detector, which is divided into, receives demodulating mechanism 111 and 101 double-layer structure of infrared emission mechanism, infrared emission mechanism 101 is located at the superstructure or understructure for receiving demodulating mechanism 111, it receives demodulating mechanism 111 and is multiplexed the binocular that sweeping robot receives cradle signal, wherein the binocular is to be installed in single or two infrared receiving terminals 110 received in demodulating mechanism 111；The corresponding superstructure in 110 position of infrared receiving terminal or understructure are installed with the infrared transmitting tube 102 of infrared emission mechanism 101, so that infrared receiving terminal 110 can receive the modulated signal that the infrared transmitting tube 102 through barrier reflection issues, cradle signal can be received again, to extend the receive capabilities of detection device on the basis of high detection sensitivity.
Description
Technical field
The present invention relates to autonomous actions robotic technology fields, and in particular to a kind of detection of obstacles dress of infrared modulated
It sets, detection method and robot.
Background technique
With technology development and pursuit of the people to comfortably living, autonomous actions robot is more and more to enter people's life
In work, such as accompany robot, sweeping robot.The basic function of robot is environment sensing, command reception and behavior control
System.Robot difficult point is the perception of environment first, and robot needs to know which place can be gone, before have which barrier,
Whether side is wall etc..The perception of environment depends on the acquisition of various sensing datas, and common sensor includes: red at present
Outer light intensity sensor, infrared distance sensor, ultrasonic sensor, visual sensor, laser sensor etc..From precision
It sees, infrared distance sensor, ultrasonic sensor, laser sensor can obtain relatively high precision, but cost compares
Height, the angle changing rate wherein covered outside laser sensor is small, needs more number that can reduce the blind area of detection, and
Laser sensor can only perceive a very narrow two-dimensional surface, and there are blind areas for vertical direction.Visual sensor is done if necessary
To ranging, then at least two cameras are needed, cost is relatively high, and precision is not good enough, and special hole is also required on mold to place.
Consider from cost with appearance, infrared light intensity sensor is undoubtedly the cheapest and most widely used.Therefore the infrared signal of modulation
It has been obtained for being widely applied, is mainly used in the control of various household electrical appliances inside family, is presented as many IR remote controllers
It is namely based on the infrared signal transmitting of modulation.Its remote controler can be made sensitive by the modulation of signal, so that household electrical appliances connect
Receiving distance generally can be more than 5 meters；Even if remote controler is ok against ceiling or the metope of side, household electrical appliances
It receives.
But current robot is all based on the strong infrared detection barrier of monochromatic light, different materials to infrared transmitting not
Together；Since infrared detection structure is single layer structure, therefore when light beam issued reaches barrier, to irradiate space in the longitudinal direction limited, because
This is difficult to detect barrier when barrier is close to ground or higher than detection device, in this case to barrier
Hinder the detection information of object space position not comprehensive, it is easy to form that robot is blocked, lead to collision accident.Utility model
Although CN201453155U overcomes above-mentioned technological deficiency using two or more layers infrared detection structure, comprehensive inspection in transverse direction is realized
Survey, the detection range expansion on longitudinal space, but infrared detection structure have a single function, and practicability is to be improved.
Summary of the invention
In view of the above-mentioned problems, present invention offer technical solution is as follows:.
A kind of obstacle detector of infrared modulated, which, which is divided into, receives demodulating mechanism and infrared hair
Mechanism double-layer structure is penetrated, demodulating mechanism is received and is provided with infrared receiving terminal, infrared emission mechanism is provided with infrared transmitting tube, infrared
Trigger mechanism is located at the superstructure or understructure for receiving demodulating mechanism, and the reception demodulating mechanism multiplexing sweeping robot connects
The binocular of cradle signal is received, wherein the binocular is single or two infrared receivers being installed in the reception demodulating mechanism
Head；The corresponding superstructure in the infrared receiving terminal position or understructure are installed with the infrared of the infrared emission mechanism
Transmitting tube so that the infrared receiving terminal can receive through barrier reflection infrared transmitting tube issue modulated signal and
Cradle signal can be received.
Further, the optical axis of the plane where the optical axis of the infrared receiving terminal and the infrared transmitting tube is formed
One predetermined angle, so that the transmitting visual angle of the infrared transmitting tube and the reception visual angle of the infrared receiving terminal, which intersect, surrounds one
Detection zone in a predetermined distance range being defined in immediately ahead of the obstacle detector, wherein the predetermined angle is
What the power of the modulated signal issued according to the infrared transmitting tube and direction determined.
Further, the predetermined distance range is set greater than 3 centimetres and less than 5 centimetre.
Further, emitting from the modulated signal of the infrared transmitting tube is the discontinuous pulses for being modulated into predeterminated frequency
String, the discontinuous pulses string are the carrier signal of predeterminated frequency and modulated signal phase based on infrared coding and obtain；Wherein, described
Predeterminated frequency is set as 38KHz or 40KHz.
A kind of detection method based on the obstacle detector, the detection method include: when the infrared emission
The transmitting signal of pipe and the demodulated output signal of the infrared receiving terminal judge the detection zone there are when following pulse sequence
Inside there is barrier, wherein pulse sequence includes: between (1) t0 moment and t1 moment, and the infrared transmitting tube emits one section in advance
If the successive pulse groups of frequency, correspondingly, the infrared receiving terminal receives the continuous arteries and veins of the detection zone internal reflection
Punching string, demodulated output low level；Wherein, the successive pulse groups are the high level arteries and veins of the modulated signal based on infrared coding
It punching and the carrier signal phase of the predeterminated frequency and obtains, the infrared coding is the letter that the infrared receiving terminal can identify
Number coding protocol；(2) between t1 moment and t2 moment, there is not train of pulse in the transmitting signal of the infrared transmitting tube, it should
Free time interval of the period as transmitting signal, correspondingly, the infrared receiving terminal receive anti-in the detection zone
The transmitting signal penetrated, demodulated output high level；(3) the t2 moment, into next duty cycle；(4) the t2 moment is extremely
The working sequence of the period at t3 moment repeats step (1), and the working sequence of the period at t3 moment to t4 moment repeats step
(2), then enter next but one duty cycle, such iteration at the t4 moment, so that the infrared receiving terminal persistently receives institute
State the brewed infrared signal from infrared transmitting tube transmitting of detection zone internal reflection；When the solution of the infrared receiving terminal
Adjust output signal that above-mentioned pulse sequence is not present, barrier is not present in the detection zone, and the infrared receiving terminal is also used at this time
Time seat signal described in receiving.
Further, the predeterminated frequency be the frequency adaptation characteristic according to the infrared receiving terminal and modulate come, with
It eliminates environmental light intensity and returns the influence of seat signal.
Further, the transmitting signal of the infrared transmitting tube is the modulated discontinuous pulses string that the predeterminated frequency is made,
The free time interval in the discontinuous pulses string is determined according to the fixation idling cycle of the carrier signal of the predeterminated frequency
's；Wherein, the discontinuous pulses string is that the carrier wave of the modulated signal and driving infrared emission that are transferred to the infrared transmitting tube is believed
Number phase with obtain, what the numerical value of the fixed idling cycle was determined by the infrared coding.
Further, judge the infrared receiving terminal received signal for return seat signal method include: when described red
When the outer demodulated output signal for receiving head corresponds to cradle matched pulse code value, the infrared receiving terminal received signal type
To return seat signal.
A kind of robot, the robot are a kind of movable machine people, and the shell front side of the robot is installed with one group
Or obstacle detector described in multiple groups.
Compared with the existing technology, beneficial effects of the present invention: technical solution of the present invention is existing in multiplexing sweeping robot
On the basis of signal receives head, the infrared receiving/transmission component of low cost is added, so as to receive the vertical response space region of restriction
The modulated pulse signal of barrier reflection in domain detects barrier, solves to laterally define the barrier reflection light loss in region
The not high problem of detection of obstacles of becoming estranged sensitivity, and expand the purposes function of the obstacle detector.
Detailed description of the invention
Fig. 1 and Fig. 2 is the in-built side view of obstacle detector and its respective optical path of a kind of infrared modulated
Schematic diagram wherein receives demodulating mechanism 111 in the superstructure of infrared emission mechanism 101, Fig. 2 embodiment in Fig. 1 embodiment
Demodulating mechanism 111 is received in the understructure of infrared emission mechanism 101；
Fig. 3 and Fig. 4 is a kind of front view of the obstacle detector of infrared modulated, wherein receives demodulating machine in Fig. 3 embodiment
Structure 111 receives demodulating mechanism 111 in Fig. 4 embodiment in infrared emission mechanism 101 in the superstructure of infrared emission mechanism 101
Understructure；
Fig. 5 is a kind of bowing for robot for the obstacle detector for being installed with the infrared modulated provided in an embodiment of the present invention
Depending on schematic diagram；
Fig. 6 and Fig. 7 is a kind of schematic diagram of the detection zone of the obstacle detector of infrared modulated, wherein in Fig. 6 embodiment
It receives demodulating mechanism 111 and receives demodulating mechanism 111 in the superstructure of infrared emission mechanism 101, Fig. 7 embodiment in infrared hair
Penetrate the understructure of mechanism 101；
Fig. 8 is a kind of control sequential figure of the obstacle detector of infrared modulated provided in an embodiment of the present invention；
Fig. 9 is binary signal coding schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing:
In the description of invention, it is to be understood that term " center ", "front", "rear", "left", "right", "vertical", "horizontal",
The orientation or positional relationship of the instructions such as "top", "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description invent and simplify description, rather than indication or suggestion meaning device or element must have a particular orientation,
It is constructed and operated in a specific orientation, therefore should not be understood as the limitation to invention.
A kind of obstacle detector of infrared modulated provided in an embodiment of the present invention, the present invention is implemented for ease of description
Example selects the in-built side view of obstacle detector to be illustrated, in conjunction with Fig. 1 and Fig. 3 it is found that the barrier
Detection device includes processor, infrared transmitting tube 102, infrared receiving terminal 110, receives demodulating mechanism 111 and infrared emission mechanism
101；The obstacle detector, which is divided into, receives demodulating mechanism 111 and 101 double-layer structure of infrared emission mechanism, receives demodulating machine
Structure 111 is provided with infrared receiving terminal 110, and infrared emission mechanism 101 is provided with infrared transmitting tube 102,101, infrared emission mechanism
In the understructure for receiving demodulating mechanism 111, and Fig. 2 and Tu4Zhong infrared emission mechanism 101 is located at reception demodulating mechanism 111
Superstructure.It receives demodulating mechanism 111 and infrared emission mechanism 101 uses integrated design, as load carrier, for fixing
With isolation infrared transmitting tube 102 and infrared receiving terminal 110.Under the control of the processor, receives the multiplexing of demodulating mechanism 111 and sweep
Floor-washing robot receives the binocular of cradle signal, and in the prior art, sweeping robot has automatic seat of honour function, and the front is useful
In the binocular for receiving cradle transmission signal, which is two or single infrared receiver probe, so that structure design is simple.Phase
For the prior art, a kind of obstacle detector of infrared modulated provided in an embodiment of the present invention is provided simultaneously with detection of obstacles
With the function of being received back a signal.
As a kind of embodiment of the invention, as shown in figure 3, receive demodulating mechanism 111 is arranged two in the horizontal direction
Infrared receiving terminal 110；In infrared emission mechanism 101, position or single infrared receiving terminal between two infrared receiving terminals 110
Infrared transmitting tube 102 is installed in the understructure of 110 positions, so that two or single infrared receiving terminal 110 both received
The modulated signal that infrared transmitting tube 102 through barrier reflection issues, and receive cradle signal；And two or single in Fig. 4
It is installed with infrared transmitting tube 102 in the superstructure of a 110 position of infrared receiving terminal, again such that single or two infrared
It receives head 110 and receives the modulated signal that the infrared transmitting tube 102 that barrier reflects issues, and retain the original cradle that receives and believe
Number function.If installing, there are two infrared receiving terminal 110, their directions in the same plane are parallel or assemble,
To improve the requirement of the sensitivity of the barrier in detection front.
The light path schematic diagram of the obstacle detector is as shown in Figure 1, optical path 105 and optical path 103 surround infrared emission
The transmitting angular field of view of pipe 102, optical path 105 and optical path 103 are crossed to form the angle of departure of infrared transmitting tube 102, and 104 indicate infrared
The optical axis of transmitting tube 102；Optical path 106 and optical path 107 surround the reception angular field of view of infrared receiving terminal 110, optical path 106 and light
Road 107 is crossed to form the acceptance angle of infrared receiving terminal 110, and 108 indicate the optical axis of infrared receiving terminal 110.Due to Fig. 1 embodiment
The middle demodulating mechanism 111 that receives receives demodulating mechanism 111 infrared in the superstructure of infrared emission mechanism 101, Fig. 2 embodiment
The understructure of trigger mechanism 101, so light path schematic diagram shown in Fig. 2 and Fig. 1's is flip vertical relationship, thus it is no longer superfluous
It states.As shown in Figure 1, the optical axis 108 of single infrared receiving terminal 110 and the optical axis 104 of infrared transmitting tube 102 form one in advance
Clamp angle, so that receiving the integrated bearing structure of demodulating mechanism 111 and the composition of infrared emission mechanism 101 infrared transmitting tube
102 optical path and the optical path of infrared receiving terminal 110 converge the detection zone 109 to form a longitudinal direction.If two infrared receivers
The optical axis 104 of plane and infrared transmitting tube 102 where first 110 optical axis 108 forms a predetermined angle, so that receiving
The integrated bearing structure that demodulating mechanism 111 and infrared emission mechanism 101 are constituted is the optical path of infrared transmitting tube 102 and infrared connects
The optical path for receiving head 110 converges the detection zone 109 to form an enclosure space.
Specifically, the detection zone 109 is defined in the predetermined distance range immediately ahead of the obstacle detector,
Wherein the predetermined angle is that the power of the modulated signal issued according to infrared transmitting tube 102 and direction determine, described
Predetermined angle is acute angle or obtuse angle.Detection zone 109 and the most narrow spacing immediately ahead of the obstacle detector in Fig. 1 or Fig. 2
From for h1, maximum distance h2.Specifically, h1 is set as 3 centimetres, and h2 is set as 5 centimetres.The predetermined distance range is set as
Greater than 3 centimetres less than 5 centimetres.
Since the infrared receiving terminal 110 in the reception demodulating mechanism 111 in the embodiment of the present invention is multiplexed original binocular, therefore
The transmitting visual angle of infrared transmitting tube 102 and the reception visual angle of infrared receiving terminal 110, which are passed through, to intersect to surround a longitudinal inspection
Region 109 is surveyed, which is located at the light emitting region of infrared transmitting tube 102 and receives infrared receiving terminal in demodulating mechanism 111
110 range of receiving intersection it is common within sweep of the eye, the barrier reflection infrared light in detection zone 109 is stronger, red
It is outer to receive that the light intensity that receives of head 110 is also stronger, and the distance parameter in the signal that cradle is sent then not examined region 109
Limitation.Wherein, infrared receiving terminal 110 is single or two, can either receive barrier reflection in detection zone 109 and come from
The IR modulated signals of the infrared transmitting tube 102, and the signal of cradle can be received, two kinds of receive capabilities do not conflict；Its
The signal of middle barrier reflection is the modulated signal emitted from infrared emission mechanism 101, that is, is transferred to infrared transmitting tube 102
The infrared signal that modulated signal is multiplied with the carrier pulse of driving infrared emission, the signal of cradle is guide device
Return the signal of seat charging.
As the embodiment of the present invention, when reception demodulating mechanism 111 is based on the binocular structure and it is arranged and is connect there are two infrared
When receiving head 110, in space coordinates O-XYZ shown in Fig. 6, the obstacle detector is used for closed detection zone
109, detection zone 109 is surrounded by the reception visual angle of two infrared receiving terminals 110 and the transmitting visual angle of infrared transmitting tube 102, is located
Intersect in the light emitting region of infrared transmitting tube 102 with the range of receiving for receiving two infrared receiving terminals 110 in demodulating mechanism 111
It is common within sweep of the eye, and be affected by it.Due to receiving demodulating mechanism 111 in Fig. 6 embodiment in infrared emission mechanism 101
Superstructure receives demodulating mechanism 111 in Fig. 7 embodiment in the understructure of infrared emission mechanism 101, so shown in Fig. 7
Light path schematic diagram and Fig. 6's is flip vertical relationship, and so it will not be repeated.
On the basis of being multiplexed original binocular, superstructure or understructure in position increase the embodiment of the present invention
Infrared emission mechanism 101, using double-layer structure 109 from plane monitoring-network regional expansion to detection zone, in infrared emission mechanism 101
Infrared transmitting tube 102 issue light beam after being reflected by an obstacle, a part of light can be received the list in demodulating mechanism 111
A or two infrared receiving terminals 110 receive, and deficiency of the single layer structure in detection spatial dimension are made up, thus in detection zone
The barrier with certain altitude can be detected in 109, the obstacle detector is made to obtain more comprehensive detection
Information avoids machine running process from being blocked by barrier, further reduces the check frequency of the obstacle detector
Range improves the sensitivity of infrared detection barrier.
Preferably, the output power of infrared transmitting tube 102 is constant, and its watt level meets infrared receiving terminal reception
110 and demodulate the intensity requirement of the predetermined distance range internal reflection signal.Obstacle distance in detection zone 109 is infrared to be connect
Receive head 110 it is closer, the reception signal of infrared receiving terminal 110 is stronger, when the two distance be less than anticollision apart from when, safety can be caused
Problem；Obstacle distance infrared receiving terminal 110 in detection zone 109 is remoter (being greater than anticollision distance), infrared receiving terminal 110
Reception signal it is weaker, when the optical axis 104 of infrared transmitting tube 102 and the optical axis 108 of infrared receiving terminal 110 are almost without friendship
When point, the reception signal of infrared receiving terminal 110 can not be demodulated.Therefore need in the predetermined distance range, pass through setting
The infrared transmitting tube 102 of two infrared receiving terminals 110 and infrared emission mechanism 101 that receive demodulating mechanism 111 limits one
Detection zone 109 on three-dimensional space, adjusts the output power of the infrared transmitting tube 102 then to carry out detection of obstacles,
Then the barrier in detection zone 109 is reflected back on three-dimensional space is suitable for demodulating the signal of intensity to infrared receiving terminal 110,
And two infrared receiving terminals 110 are wider to the receiving plane of reflected light, the received modulation intelligence of the obstacle detector institute is more
Comprehensively.Infrared external reflection light on two-dimensional detection area compared with the existing technology, the embodiment of the present invention are avoided that infrared emission light
Strong loss improves the detection sensitivity of the obstacle detector.In addition infrared transmitting tube 102 is according to actually detected obstacle
The size of the predetermined distance range during object, it is infrared in restriction range to meet to set the output power of a stability number
The intensity requirement that head 110 receives barrier reflection signal is received, the influence of other light pulses is excluded, improves detection effect, realize
Low-power consumption detection.
Preferably, emitting from the signal of infrared transmitting tube 102 is the discontinuous pulses string for being modulated into predeterminated frequency, the interruption
Train of pulse is the carrier signal of predeterminated frequency and modulated signal phase based on infrared coding and obtain, wherein predeterminated frequency be by
What infrared coding determined, and infrared coding is the Signal coding agreement that infrared receiving terminal 110 can identify.The predeterminated frequency is set
It is set to 38KHz or 40KHz, implements the infrared coding agreement that infrared receiving terminal 110 can identify to meet the present invention.With it is infrared anti-
Transmitting terminal that pipe 102 is connected is penetrated using conventional impulse modulation mode (such as pulse width modulation (PWM), pulse position tune
Make the methods of (PPM)), binary digital signal is modulated into the discontinuous pulses string of predeterminated frequency, and drive infrared transmitting tube 102
It is sent in the form of light pulse, i.e., is sent to and connects by the modulated signal of the carrier signal carrying useful information of predeterminated frequency
Debit.Wherein, modulated signal interval is sent, and is first sent one section of continuous impulse sequence with predeterminated frequency, is entered back into idle shape
Then state sends one section of continuous impulse sequence with predeterminated frequency again, enters back into idle state, so alternate to send.
As one embodiment, the modulated signal is a kind of binary signal, as shown in figure 9, in binary signal
The pulse width of the low and high level signal of logic ' 1 ' is equal to 0.26ms, the low level signal of the logic ' 0 ' in binary signal
Pulse width be equal to 0.52ms, the pulse width of high level signal is equal to 0.26ms.It should be noted that different infrared volumes
In code, the corresponding duty ratio of logical zero and logical one is different in binary signal, i.e., the pulse of corresponding low and high level signal
The ratio of width is different.And in present invention implementation, various common infrared remote coding agreements are suitable for the modulated signal.
Based on the obstacle detector, present invention implementation provides a kind of detection method, and the detection method includes:
Under the control of the processor, the light arteries and veins received is converted into electric signal by infrared receiving terminal 110, using amplification,
Demodulator circuit is given after the processing such as filtering to be demodulated, and is exported after being reduced to binary digital signal.The processor is according to red
The outer demodulated output signal for receiving head 110, determines 110 received signal type of infrared receiving terminal, wherein signal type includes
Return seat signal and obstacle signal；Function punching will not occur when infrared receiving terminal 110 is received back a signal and obstacle signal
It is prominent.
Preferably, infrared to connect when the demodulated output signal of infrared receiving terminal 110 corresponds to the matched pulse code value of cradle
It receives 110 received signal type of head and is back seat signal.The pulse code value is receiving and transmitting signal pulse used in normal charge seat
Parameter.
Preferably, judge that the infrared receiving terminal received signal for the method for obstacle signal includes: the processing
Device needs to do corresponding timing control to infrared transmitting tube 102, by detecting the demodulated output signal of infrared receiving terminal 110 come real
Now judge that whether there are obstacles in detection zone 109.As shown in figure 8, the middle and upper part Fig. 8 is divided into the modulated of infrared transmitting tube 102
The transmitting signal of system, Fig. 8 middle-lower part are the demodulated output signals of infrared receiving terminal 110.When the transmitting signal and the solution
Adjusting output signal, there are following pulse sequences can determine whether in detection zone 109 that wherein pulse sequence includes: there are barrier
(1) between t0 moment and t1 moment, infrared transmitting tube 102 emits the successive pulse groups of one section of predeterminated frequency, correspondingly, red
The outer successive pulse groups for receiving head 110 and receiving 109 internal reflection of detection zone, demodulated output low level；Wherein, institute
State the carrier signal phase of high level pulse and the predeterminated frequency that successive pulse groups are the modulated signals based on infrared coding with
It obtains, the infrared coding is the Signal coding agreement that the infrared receiving terminal can identify；
(2) between t1 moment and t2 moment, there is not train of pulse in the transmitting signal of infrared transmitting tube 102, which makees
For the free time interval for emitting signal, correspondingly, infrared receiving terminal 110 receives the hair of 109 internal reflection of detection zone
Penetrate signal, demodulated output high level；
(3) the t2 moment, into next duty cycle；
(4) working sequence of the period at t2 moment to t3 moment repeats step (1), the work of the period at t3 moment to t4 moment
Make timing and repeat step (2), then enters next but one duty cycle, such iteration, so that infrared receiving terminal 110 at the t4 moment
Persistently receive the brewed infrared signal of 109 internal reflection of detection zone emitted from infrared transmitting tube 102；Infrared transmitting tube
102 repeated work timing (1) to (4) emit modulated signal, and barrier be in detection zone 109 can reflect it is brewed
Infrared signal allows infrared receiving terminal 110 persistently to receive reflection signal.
Wherein the successive pulse groups of predeterminated frequency are the binary signal for loading the coding of carrier signal, and infrared receiving terminal
The 110 reflection signals that receive are a part of reflectings surface of entire barrier or barrier in detection zone 109.
When above-mentioned pulse sequence is not present in the demodulated output signal of infrared receiving terminal 110, detection zone 109 is interior, and there is no barriers
Hinder object, infrared receiving terminal 110 is also used to receive time seat signal of cradle at this time, sufficiently extends the obstacle detector
Receive capabilities increase the practicality.
Preferably, the predeterminated frequency is the frequency adaptation characteristic according to infrared receiving terminal 110 and modulates come to meet
The requirement of common infrared coding agreement.Specifically, infrared light can be made with specific frequency scintillation, infrared receiver by modulation
First 110 can be adapted to this frequency, other noise signals are all ignored.The different of carrier wave, which are modulated, according to transmitting terminal selects corresponding demodulation
The reception head of frequency.In the embodiment of the present invention, the predeterminated frequency is set as 38KHz or 40KHz.
Preferably, the transmitting signal of infrared transmitting tube 102 is the modulated discontinuous pulses string that the predeterminated frequency is made, between being somebody's turn to do
The free time interval in disconnected train of pulse is determined according to the fixation idling cycle between the carrier signal of the predeterminated frequency
, the modulated signal is the encoded signal based on infrared coding, and the numerical value of the fixed idling cycle is also by corresponding red
What outer coding agreement determined.It is separated between the carrier pulse using the fixed idling cycle, to indicate logical zero,
And the discontinuous pulses string is the carrier signal phase for being transferred to the modulated signal and driving infrared emission of infrared transmitting tube 102
With obtain.
Preferably, infrared transmitting tube 102 exports in distance range of the detection zone 109 with the obstacle detector
The power of constant intensity, so that infrared receiving terminal 110 can only receive the transmitting letter that barrier reflects in detection zone 109
Number；Wherein, integrated bearing structure (the i.e. described detection of obstacles of demodulating mechanism 111 and the composition of infrared emission mechanism 101 is received
Device) and detection zone 109 distance range be greater than 3 centimetres and less than 5 centimetres.Detection zone 109 as shown in Figure 1 or 2
Minimum range with the front of the obstacle detector is h1, maximum distance h2.Specifically, h1 is set as 3 centimetres,
H2 is set as 5 centimetres.Infrared transmitting tube 102 according to the size of the predetermined distance range during actually detected barrier, if
The output power of a fixed stability number is to meet the intensity for limiting infrared receiving terminal 110 in range and receiving barrier reflection signal
It is required that.
During atual detection, when entire barrier is located at the front detection zone of the obstacle detector
When region except 109, as shown in Figure 1 or 2, it is divided into two kinds of embodiments.Embodiment one, when barrier is located at 105 He of optical path
When optical path 103 surrounds the region #1 in the light emitting region of infrared transmitting tube 102, since region #1 is not in optical path 106 and optical path 107
It surrounds in the altitude range at reception visual angle of infrared receiving terminal 110, and the limitation of the output power of infrared transmitting tube 102, so
Infrared receiving terminal 110 almost do not receive the barrier in the #1 altitude range of region reflection signal or receive extremely weak signal with
As for can not demodulated output signal；
Embodiment two, when barrier is located at the region # in the range of receiving that optical path 107 and optical path 106 surround infrared receiving terminal 110
2, due to region #2 not in the transmitting angular field of view that optical path 103 and optical path 105 surround infrared receiving terminal 110 and with the obstacle
Distance immediately ahead of analyte detection device exceeds the pre-determined distance range, in addition the output power of infrared transmitting tube 102 and described
The limitation of pre-determined distance, so modulated signal of the barrier reception from infrared transmitting tube 102 is very weak in the #2 of region, almost
Do not reflect transmitting from the modulated signal of the infrared transmitting tube, the infrared receiving terminal 110 then receive extremely weak signal with
As for output corresponding signal can not be demodulated.
It can be installed on a kind of movable machine people based on obstacle detector above-mentioned, as shown in figure 5, the machine
A kind of artificial sweeping robot of device, 302 indicate the pedestal of sweeping robots, and 301 indicate the shell of sweeping robots, and 111 indicate
The reception demodulating mechanism that the front side of the shell 301 of sweeping robot is installed, 110 receive on demodulating mechanism 111 to be installed in
Two towards parallel infrared receiving terminal, 110 also include being installed in the single infrared receiving terminal received on demodulating mechanism 111.?
In the embodiment of the present invention, it is multiplexed the sweeping robot and is originally intended to receive two infrared receiving terminals 110 of cradle signal, so that
Two infrared receiving terminals 110 had not only received the modulated signal of barrier reflection, but also received the signal of cradle.From the robot
The direction of top view see that detection of obstacles region is limited to region 109, the position in region 109 is by two towards parallel
The influence of the optical axis 104 for receiving visual angle and infrared transmitting tube 102 of infrared receiving terminal 110, wherein region 109 and the machine
The minimum range for the distance in the front of demodulating mechanism 111 that installs on people receive is h1, maximum distance h2, which can be used to
Indicate the distance range value immediately ahead of the obstacle detector with region 109.Specifically, h1 is set as 3 centimetres, h2 setting
It is 5 centimetres.The robot can detect the barrier with certain altitude in region 109, obtain the robot
More comprehensive detection information, avoid robot from being blocked in cleaning process by barrier, further improve sweeping efficiency and
Area coverage is cleaned, sensitivity of the robot in terms of infrared detection barrier is also improved.
It should be noted that obstacle detector described in can installing 6 groups on the sweeping robot, hinders described in 6 groups
Analyte detection device is hindered to be evenly distributed in the front side of the shell 301 of the sweeping robot, thus more fully hereinafter described in detection
The barrier in area of space is limited in robot transverse direction.Above embodiments are only that sufficiently disclosure is not intended to limit the present invention, all
Based on present inventive concept and the replacement of equivalence techniques feature that can be obtained without creative work, invention should belong to and covered
Range.
Claims (9)
1. a kind of obstacle detector of infrared modulated, which, which is divided into, receives demodulating mechanism and infrared emission
Mechanism double-layer structure receives demodulating mechanism and is provided with infrared receiving terminal, and infrared emission mechanism is provided with infrared transmitting tube, infrared hair
It penetrates mechanism and is located at the superstructure or understructure for receiving demodulating mechanism, which is characterized in that the reception demodulating mechanism multiplexing is swept
Floor-washing robot receive cradle signal binocular, wherein the binocular be installed in it is described reception demodulating mechanism in it is single or two
A infrared receiving terminal；
The corresponding superstructure in the infrared receiving terminal position or understructure are installed with the red of the infrared emission mechanism
Outer transmitting tube, so that the infrared receiving terminal can receive the modulated signal that the infrared transmitting tube through barrier reflection issues,
Cradle signal can be received again.
2. obstacle detector according to claim 1, which is characterized in where the optical axis of the infrared receiving terminal
The optical axis of plane and the infrared transmitting tube forms a predetermined angle, so that the transmitting visual angle of the infrared transmitting tube and institute
The reception visual angle for stating infrared receiving terminal, which intersects, surrounds the preset distance model being defined in immediately ahead of the obstacle detector
Enclose interior detection zone, wherein the predetermined angle be the modulated signal issued according to the infrared transmitting tube power and
What direction determined.
3. obstacle detector according to claim 2, which is characterized in that the predetermined distance range is set greater than 3
Centimetre and less than 5 centimetres.
4. obstacle detector according to claim 1, which is characterized in that emit from the brewed of the infrared transmitting tube
Signal is the discontinuous pulses string for being modulated into predeterminated frequency, which is the carrier signal of predeterminated frequency and is based on infrared
The modulated signal phase of coding with obtain；Wherein, the predeterminated frequency is set as 38KHz or 40KHz.
5. a kind of detection method based on any one of claim 1 to claim 4 obstacle detector, feature exist
In the detection method includes:
When there are following pulse sequences for the transmitting signal and the demodulated output signal of the infrared receiving terminal of the infrared transmitting tube
When, judge in the detection zone that there are barrier, wherein pulse sequence includes:
(1) between t0 moment and t1 moment, the infrared transmitting tube emits the successive pulse groups of one section of predeterminated frequency, correspondingly,
The infrared receiving terminal receives the successive pulse groups of the detection zone internal reflection, demodulated output low level；Its
In, the successive pulse groups are the high level pulse of the modulated signal based on infrared coding and the carrier signal of the predeterminated frequency
Mutually with obtain, the infrared coding is the Signal coding agreement that the infrared receiving terminal can identify；
(2) between t1 moment and t2 moment, there is not train of pulse in the transmitting signal of the infrared transmitting tube, which makees
For the free time interval for emitting signal, correspondingly, the infrared receiving terminal receives the described of the detection zone internal reflection
Emit signal, demodulated output high level；
(3) the t2 moment, into next duty cycle；
(4) working sequence of the period at t2 moment to t3 moment repeats step (1), the work of the period at t3 moment to t4 moment
Make timing and repeat step (2), then enters next but one duty cycle, such iteration, so that the infrared receiver at the t4 moment
Head persistently receives the brewed infrared signal from infrared transmitting tube transmitting of the detection zone internal reflection；
When above-mentioned pulse sequence is not present in the demodulated output signal of the infrared receiving terminal, obstacle is not present in the detection zone
Object, the infrared receiving terminal is also used to receive described time seat signal at this time.
6. detection method according to claim 5, which is characterized in that the predeterminated frequency is according to the infrared receiving terminal
Frequency adaptation characteristic and modulate come, with eliminate environmental light intensity and return seat signal influence.
7. detection method according to claim 6, which is characterized in that the transmitting signal of the infrared transmitting tube is modulated is made
The discontinuous pulses string of the predeterminated frequency, the free time interval in the discontinuous pulses string is according to the load of the predeterminated frequency
What the fixation idling cycle of wave signal determined；Wherein, the discontinuous pulses string is the modulation letter for being transferred to the infrared transmitting tube
Number with the carrier signal phase of driving infrared emission with obtain, the numerical value of the fixed idling cycle determines by the infrared coding
's.
8. detection method according to claim 5, which is characterized in that judge the infrared receiving terminal received signal to return
The method of seat signal includes: the institute when the demodulated output signal of the infrared receiving terminal corresponds to cradle matched pulse code value
It states infrared receiving terminal received signal type and is back seat signal.
9. a kind of robot, which is a kind of movable machine people, which is characterized in that the shell front side of the robot fills
Equipped with any one of one or more groups of claims 1 to claim 4 obstacle detector.
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