CN203673068U - Ultrasonic distance-measuring positioning device for short-distance obstacle-avoiding system - Google Patents
Ultrasonic distance-measuring positioning device for short-distance obstacle-avoiding system Download PDFInfo
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- CN203673068U CN203673068U CN201420000715.2U CN201420000715U CN203673068U CN 203673068 U CN203673068 U CN 203673068U CN 201420000715 U CN201420000715 U CN 201420000715U CN 203673068 U CN203673068 U CN 203673068U
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Abstract
Provided is an ultrasonic distance-measuring positioning device for a short-distance obstacle-avoiding system. According to the ultrasonic distance-measuring positioning device, a double-ultrasonic-wave receiver is employed so that the system can simultaneously measure two-dimensional coordinates of positions of all objects in the short distance in front of an operation plane of the device, and the short-distance obstacle-avoiding system can rapidly select a best obstacle-avoiding route.
Description
Technical field
The utility model relates to ultrasound wave location, is specifically related to the supersonic sounding orientator that closely obstacle avoidance system is used.
Background technology
In obstacle avoidance system closely, often measure the distance between barrier and object with ultrasound wave, in conventional ultrasonic evadible system, only use single transmitter and single receiver, can only measure like this distance between barrier and object, the angle information between barrier and object can not be measured.For the situation only with single distribution of obstacles, only depend on range data controller just can select and keep away barrier path.But in the time that object is closely located to occur multiple obstacle simultaneously, owing to there is no the concrete angle information distributing of barrier, controller just cannot be selected correct keeping away and hinder path.
Utility model content
The utility model is for solving the problems of the technologies described above, the supersonic sounding orientator that provides a kind of closely obstacle avoidance system to use, the present invention adopts two ultrasonic receivers, make system can measure simultaneously its operation plane front closely in the two-dimensional coordinate of all objects position, thereby can make obstacle avoidance system use closely select fast an optimum barrier route of keeping away.
The utility model is that the technical scheme that the deficiency that solves the problems of the technologies described above adopts is: the supersonic sounding orientator that closely obstacle avoidance system is used, be provided with singlechip controller, wherein S1, C3, the reset circuit of R1 composition control device, C1, C2, the outside oscillatory circuit of Y1 composition control device, provide clock signal to controller, two ultrasonic receivers are connected with P3.2 pin and the P3.3 pin of singlechip controller respectively, ultrasonic transmitter is connected with the P3.1 pin of singlechip controller, the output terminal of digital temperature sensor is connected with P3.0 pin, two ultrasonic receivers receive the ultrasound wave that ultrasonic transmitter is launched, and to P3.2 pin and a pulse signal of P3.3 pin place output, singlechip controller is processed two pulse signals, form a two-dimentional detection system, in described ultrasonic transmitter, be provided with ultrasonic transmit circuit, in ultrasonic transmit circuit, be provided with by chip U3, chip U4, capacitor C 4, adjustable resistance R4, resistance R 5 and form controllable oscillatory circuit, the control port that the T60-T pin of chip U4 is oscillatory circuit, and be connected with the P3.1 pin of singlechip controller, the output signal of oscillatory circuit is amplified rear drive ultrasonic transmitter transmitting ultrasound wave through the amplifying circuit of resistance R 3, triode Q1 composition.
Singlechip controller described in the utility model is AT89S52 single-chip microcomputer.
Singlechip controller described in the utility model is connected with light-emitting diode display.
The utility model beneficial effect is:
1, single transmitter can guarantee that all ultrasonic signals that two receivers detect are all to launch with same place at one time.Adopt two ultrasonic receivers, can form a two-dimentional detection system, thereby make system can measure the two-dimensional coordinate of objects in front.
2, temperature sensor can be measured the temperature of environment, just can compensate the velocity of sound, thereby improve the precision of measuring according to temperature.
3, utilize Ultrasonic characteristics, Single-chip Controlling, electronic counting to combine and improve measuring accuracy with this, realize the precise positioning, easy to use of object.
Accompanying drawing explanation
Fig. 1 is theory diagram of the present utility model;
Fig. 2 is the circuit diagram of singlechip controller of the present utility model;
Fig. 3 is the right receiving circuit figure of ultrasonic receiver of the present utility model;
Fig. 4 is the left receiving circuit figure of ultrasonic receiver of the present utility model;
Fig. 5 is the circuit diagram of ultrasonic transmitter of the present utility model;
Fig. 6 is the ultrasound circuit temperature figure of digital temperature sensor of the present utility model;
Fig. 7 is temperature-measurement principle figure of the present utility model;
Fig. 8 is the ultrasound wave display circuit figure of light-emitting diode display of the present utility model;
Fig. 9 is positioning principle figure of the present utility model.
Embodiment
As shown in Figure 1, the supersonic sounding orientator that closely obstacle avoidance system is used, ultrasonic transmitter is connected with the P3.1 pin of singlechip controller, the output terminal of digital temperature sensor is connected with P3.0 pin, two ultrasonic receivers receive the ultrasound wave that ultrasonic transmitter is launched, to P3.2 pin and a pulse signal of P3.3 pin place output, singlechip controller is processed pulse signal, forms a two-dimentional detection system.
Fig. 2 is the minimum work system of controller, the wherein reset circuit of S1, C3, R1 composition control device, and C1, C2, the outside oscillatory circuit of Y1 composition control device, provide clock signal to controller.Reset circuit and clock circuit have ensured the normal operation of controller.Adopt STC89 series monolithic as controller, with 12864 liquid crystal displays demonstrations, ultrasound wave drives the timer of signal single-chip microcomputer.
Native system comprises two-way ultrasonic receiver, ultrasonic receiver is made up of ultrasonic probe (T60-16RR or T60-16RL) and ultrasound detection circuit (being made up of all elements except probe) two parts, receiving at ultrasonic probe T60-16RR or T60-16RL the ultrasound wave that transmitter launches is can be at corresponding T60-RL and a pulse signal of T60-RR pin place output, this pin is connected on controller, and processes pulse signal by controller.The structure of dual receiver can form a two-dimentional detection system, thereby makes system can measure the two-dimensional coordinate of objects in front.Physical circuit is as shown in Fig. 3 Fig. 4.Ultrasound wave receiving circuit adopts CX20106A as control chip, its 1 pin is connected with sound wave receiving end T60-16RR or T60-16RL one end with 4 pin, one another end ground connection, its 2 pin is by resistance R 6 and capacity earth, its 3 pin is by capacitor C 9 ground connection, resistance terminal after its 5 pin is connected with resistance R 7, resistance terminal is connected on power supply together with 8 pin, its 6 pin connects the rear ground connection of capacitor C 11, its 7 pin is connected with the T60-RR end of singlechip controller by resistance R 8, between resistance R 8 and T60-RR end, pass through electric C10 ground connection, resistance terminal between 7 pin and resistance R 8 is received the resistance terminal of R7 by resistance R 9.
As shown in Figure 5, in the ultrasound wave phonation circuit of ultrasonic transmitter, U3, U4, C4, R4, R5 composition controllable oscillatory circuit, whether the control port that the T60-T pin of U4 is oscillatory circuit, can be worked by controller control oscillator after connection controller.The output of oscillator is amplified rear drive ultrasonic transmitter T60-16T transmitting ultrasound wave through the amplifying circuit of R3, Q1 composition.In one-shot measurement, single transmitter can guarantee that all ultrasonic signals that two receivers detect are all to launch with same place at one time.Desired in this measuring principle.
As shown in Figure 6, digital temperature sensor can be measured the temperature of environment, just can compensate the velocity of sound, thereby improve the precision of measuring according to temperature.
As shown in Figure 7, digital temperature sensor adopts DS18B20 sensor, and wherein, P is preset, and SA is slope totalizer, and LTCC is low-temperature coefficient crystal oscillator, and C1 is counter 1, and C is for comparing, and TR is temperature register, and HTCC is high temperature coefficient crystal oscillator, and C2 is counter 2.The oscillation frequency temperature influence that figure medium and low temperature coefficient product shake is very little, gives counter 1 for generation of the pulse signal of fixed frequency.High-temperature coefficient crystal oscillator varies with temperature its vibration rate and obviously changes, and the signal producing is as the pulse input of counter 2.Counter 1 and temperature register are preset at-55% corresponding radix value.The pulse signal that counter 1 produces low-temperature coefficient crystal oscillator carries out subtraction counting, in the time that the prevalue of counter 1 reduces to 0.The value of temperature register will add 1, the preset of counter 1 will be loaded into again, the pulse signal that counter 1 restarts low-temperature coefficient crystal oscillator to produce is counted, so circulation is until counter 2 count down at 0 o'clock, stop the cumulative of temperature register value, now the numerical value in temperature register is measured temperature.Slope totalizer in Fig. 2 is for compensating and revise the non-linear of thermometric process, and its output is for revising the prevalue of counter 1.
Positioning principle is as shown in Figure 9: ultrasonic probe T60-16RR and ultrasonic transmitter T60-T are positioned at R1 position, and ultrasonic probe T60-16RL is positioned at R2 place, and the distance between R1 and R2 is
.Control system being by controlling the work of transmitter and detecting the pulse signal of receiver, can measure overshot ripple and propagate into object M and turn back to from R1 the time at R1 place
propagate into object M and turn back to again the time at R2 place from R1 with overshot ripple
.Can obtain by mathematical derivation:
Wherein
for the speed of overshot ripple transmission in air, by above formula just can be by object M the position x in coordinate system and y obtain respectively.According to leg-of-mutton stability, said method is equally applicable to the situation of multiple objects.
LCD display is mainly used in showing the result of output location and range finding, and displaying contents has: the object number of measuring and the X of each object, Y coordinate figure.
Claims (3)
1. the supersonic sounding orientator that closely obstacle avoidance system is used, be provided with singlechip controller, wherein S1, C3, the reset circuit of R1 composition control device, C1, C2, the outside oscillatory circuit of Y1 composition control device, provide clock signal to controller, it is characterized in that: two ultrasonic receivers are connected with P3.2 pin and the P3.3 pin of singlechip controller respectively, ultrasonic transmitter is connected with the P3.1 pin of singlechip controller, the output terminal of digital temperature sensor is connected with P3.0 pin, two ultrasonic receivers receive the ultrasound wave that ultrasonic transmitter is launched, to P3.2 pin and a pulse signal of P3.3 pin place output, singlechip controller is processed two pulse signals, form a two-dimentional detection system, in described ultrasonic transmitter, be provided with ultrasonic transmit circuit, in ultrasonic transmit circuit, be provided with by chip U3, chip U4, capacitor C 4, adjustable resistance R4, resistance R 5 and form controllable oscillatory circuit, the control port that the T60-T pin of chip U4 is oscillatory circuit, and be connected with the P3.1 pin of singlechip controller, the output signal of oscillatory circuit is amplified rear drive ultrasonic transmitter transmitting ultrasound wave through the amplifying circuit of resistance R 3, triode Q1 composition.
2. the supersonic sounding orientator that closely obstacle avoidance system as claimed in claim 1 is used, is characterized in that: described singlechip controller is AT89S52 single-chip microcomputer.
3. the supersonic sounding orientator that closely obstacle avoidance system as claimed in claim 1 is used, is characterized in that: described singlechip controller is connected with light-emitting diode display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420000715.2U CN203673068U (en) | 2014-01-02 | 2014-01-02 | Ultrasonic distance-measuring positioning device for short-distance obstacle-avoiding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420000715.2U CN203673068U (en) | 2014-01-02 | 2014-01-02 | Ultrasonic distance-measuring positioning device for short-distance obstacle-avoiding system |
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| Publication Number | Publication Date |
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| CN203673068U true CN203673068U (en) | 2014-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420000715.2U Expired - Fee Related CN203673068U (en) | 2014-01-02 | 2014-01-02 | Ultrasonic distance-measuring positioning device for short-distance obstacle-avoiding system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760563A (en) * | 2014-01-02 | 2014-04-30 | 河南科技大学 | Ultrasonic distance measurement and locating instrument for short-distance evadible system |
| CN107766903A (en) * | 2017-09-29 | 2018-03-06 | 安徽瓦尔特机械贸易有限公司 | A kind of material flow tracking alignment system |
-
2014
- 2014-01-02 CN CN201420000715.2U patent/CN203673068U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760563A (en) * | 2014-01-02 | 2014-04-30 | 河南科技大学 | Ultrasonic distance measurement and locating instrument for short-distance evadible system |
| CN103760563B (en) * | 2014-01-02 | 2016-08-24 | 河南科技大学 | The closely supersonic sounding position indicator of obstacle avoidance system |
| CN107766903A (en) * | 2017-09-29 | 2018-03-06 | 安徽瓦尔特机械贸易有限公司 | A kind of material flow tracking alignment system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140625 Termination date: 20170102 |
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| CF01 | Termination of patent right due to non-payment of annual fee |