CN205049737U - Compound barrier scanner - Google Patents
Compound barrier scanner Download PDFInfo
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- CN205049737U CN205049737U CN201520768514.1U CN201520768514U CN205049737U CN 205049737 U CN205049737 U CN 205049737U CN 201520768514 U CN201520768514 U CN 201520768514U CN 205049737 U CN205049737 U CN 205049737U
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Abstract
The utility model provides a compound barrier scanner, includes synchronous rotating system and control processing system, wherein: synchronous rotating system is including compound sensor seat, servo motor, support, rotary encoder and the rotatory head that carries on, control processing system includes servo motor drive module, barrier scanning host system and bus. The utility model discloses a barrier and size can be discerned in the aspect, the robot passes through the utility model discloses alternative use barrier treatment mechanism better, if can select stop to wait for or detouring according to barrier size, again or to the difference of barrier size, make corresponding processing, on the other hand can judge whether the barrier is the people, the robot passes through the utility model discloses can gain the barrier is the people or the information of thing to a foundation, and realize robot and human interdynamic that the robot is correlated with when dealing with is provided.
Description
Technical field
The utility model relates to location and navigation technology field, especially relates to a kind of compound barrier scanner.
Background technology
Along with the development of society and the raising of people's living standard, people are in daily life, also more and more higher to the requirement of smart machine.Robot, as assisting or the intelligent machine of alternative human work, is widely used in field of industrial production already; In recent years, some service robot has even entered into the family of people, and the life for people provides convenient.
Service robot industry is swift and violent in development recent years, has occurred, as amusement and leisure robot, disability auxiliary robot, professional clean robot, logistics purposes robot etc. have much the service robot of novelty and practicality, improving the life of people.At present, although robot industry development progress is obvious, existing robot still can often due to intelligent not and usually cannot meet the requirements at the higher level of the mankind.
Realize the intellectuality of robot, robot localization airmanship is essential.In the environment of indoor, service robot many employings ultrasonic sensor net positions, it is synchronous that first ultrasonic sensor net positioning system needs the synchronizing signal of a light velocity level (as wireless signal) to realize on ranging time, then calculates the current situation of robot by the data of the supersonic wave beacon received.In existing ultrasonic sensor net positioning system, usually barrier can be had between robot and supersonic wave beacon, ultrasound wave is met with obstruction in transmitting procedure, but this mode can cause when resolving robot current location, there is certain deviation in data; Thus, when there is barrier between robot and supersonic wave beacon, need another one supersonic wave beacon in system to position robot.
Before realizing the exchange between supersonic wave beacon, must by a kind of scanner, for judging whether size and the barrier of barrier are people, because when exchanging, if barrier is too small, then can not affect hyperacoustic transmission, barrier is if the people that can move, the way of dodging of robot can be wait for or greet it leaving, inconsistent with the method dodging fixed object.
Utility model content
The purpose of this utility model is, overcomes the above-mentioned deficiency of prior art, and provides a kind of compound barrier scanner, have can cognitive disorders thing and barrier size and barrier can be judged whether as the feature of people.
The technical solution of the utility model is: a kind of compound barrier scanner, comprises synchronous rotation system and control treatment system; Wherein:
Synchronous rotation system comprises compound sensor seat, servomotor, support, rotary encoder and rotation boarded head; Servomotor is rack-mount; Compound sensor seat is arranged on the upper end of servomotor by rotating boarded head, the lower end of servomotor is provided with independently rotary encoder; Compound sensor seat is provided with ultrasonic transmission/reception sensor and human body sensor.
Control treatment system comprises: driven by servomotor module, barrier scanning main control module and bus; Driven by servomotor module is connected with servomotor, for controlling the open and close of servomotor; Obstacle scanning main control module is connected with compound sensor seat, driven by servomotor module, rotary encoder and bus, respectively for ACTIVE CONTROL, also for the treatment of data; Bus is used for transceiving data;
Ultrasonic transmission/reception sensor and human body sensor, by integrated on compound sensor seat for the information data obtained, are transferred to barrier scanning main control module.
Further, sound-absorbing pipe is installed in the front end of described ultrasonic transmission/reception sensor, the angle that sound-absorbing pipe receives for narrowing ultrasound wave; Carry out detecting with when scanning at use ultrasound wave to barrier, hyperacoustic energy is diffusion, and the angle that sound-absorbing pipe receives by narrowing ultrasound wave by hyperacoustic concentration of energy, thus improves the effect of detection better.
Further, described rotary encoder is absolute encoder.Reason is: absolute encoder can be decided the uniqueness of each position by mechanical location, has without the need to memory, without the need to looking for the feature of reference point, at any time load position information; In the utility model implementation process, need the input according to user and change angle, thus optimal selection absolute encoder.
Further, described ultrasonic transmission/reception sensor comprises: ultrasonic signal amplifier and ultrasonic signal transceiver; Wherein:
Ultrasonic signal amplifier is used for amplifying ultrasonic signal;
Ultrasonic signal transceiver is used for sending and receiving ultrasound wave;
When needs transmitting and receiving ultrasound wave, by ultrasonic signal transceiver, ultrasonic transmission/reception sensor is made externally to launch ultrasonic signal, now, ultrasonic signal amplifier can amplify ultrasonic signal, when ultrasonic signal run into barrier reflect time, after being received by ultrasonic transmitter-receiver, then amplified by ultrasonic signal amplifier.
Further, described barrier scanning main control module comprises single-chip microcomputer main control module and ultrasonic distance measuring module; Wherein:
Single-chip microcomputer main control module is for controlling driven by servomotor module, ultrasonic signal transceiver; After single-chip microcomputer main control module receives the data that bus sends, according to Data Control driven by servomotor module and ultrasonic signal transceiver, automatic control can be completed;
The data that ultrasonic distance measuring module feeds back for the treatment of rotary encoder and compound sensor seat, and judge that robot has in the front of specified angle whether clear, barrier size and barrier are people; The data that ultrasonic distance measuring module is fed back by reception rotary encoder and compound sensor seat, and data are processed, can realize judging that robot has clear, distance, barrier size and barrier between robot and barrier to be whether the functions of people in the front of specified angle, its principle is:
1, barrier is determined whether: ultrasound wave can reflect when running into barrier;
2, judging the distance between robot and barrier: ultrasound wave is launched when running into barrier, between reflection supersonic wave and former ultrasound wave, there is regular hour gap, the distance between robot and barrier can be calculated by this time slot;
3, the size of disturbance in judgement thing: ultrasound wave is launched when running into barrier, there is certain difference (energy intensity of reflection supersonic wave is little) in reflection supersonic wave and former ultrasound wave, can judgment object size by the variable quantity of ultrasonic energy intensity on energy intensity;
4, whether disturbance in judgement thing is people: human body itself can launch the infrared waves of certain frequency, human body sensor is according to this characteristic, receive the infrared waves that barrier is launched, if these infrared waves are the infrared waves frequency of human body, then human inductor can send data, illustrates that barrier is behaved; If these infrared waves are outside the infrared waves frequency range of human body, then human inductor can send data, illustrates that barrier is not people.
Further, described bus is CAN.
The utility model compared with prior art has following features:
1, the size of energy cognitive disorders thing and barrier; By scanning and data processing, barrier can be calculated and whether exist and the size of barrier.When barrier is excessive, ultrasonic sensor net another supersonic wave beacon intrasystem can replace present beacon, positions and provide instruction to enable robot evade this barrier to robot; When barrier is less, ignore this barrier.Robot can tackle the barrier of different size better by the utility model, when running into larger barrier, other beacons can be selected in time to position robot, there will not be the problem of positioning error, when running into less barrier, ignore barrier with can allowing intelligent robot to continue to move ahead, more intelligent;
2, barrier can be judged whether as people: by human inductor to the induction of barrier and follow-up data processing, judge barrier whether as people.When barrier is behaved, supply information to robot, robot is adopted and stays where one is, pending further orders or greet and please its mode left evade; When barrier is inhuman, supply information to robot, make robot adopt conventional workaround to evade this barrier; The kind of barrier can be distinguished better by the utility model by robot, and realizes the interaction with the mankind.
Accompanying drawing explanation
Fig. 1-be structural representation of the present utility model;
Fig. 2-be ultrasonic transmission/reception sensor construction schematic diagram of the present utility model;
Fig. 3-be barrier scanning main control module schematic diagram of the present utility model;
Fig. 4-be process flow diagram of the present utility model.
In figure: 1-synchronous rotation system, 2-control treatment system, 3-compound sensor seat, 4-servomotor, 5-support, 6-rotary encoder, 7-driven by servomotor module, 8-barrier scanning main control module, 9-bus, 10-sound-absorbing pipe, 11-carry rotating head, 31-ultrasonic transmission/reception sensor, 32-human body sensor, 81-single-chip microcomputer main control module, 82-ultrasonic distance measuring module, 311-ultrasonic signal amplifier, 312-ultrasonic signal transceiver.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
With reference to accompanying drawing: a kind of compound barrier scanner, comprises synchronous rotation system 1 and control treatment system 2; Wherein:
Synchronous rotation system 1 comprises compound sensor seat 3, servomotor 4, support 5, rotary encoder 6 and rotates boarded head 11; Servomotor 4 is arranged on support 5; Compound sensor seat 3 is arranged on the upper end of servomotor 4 by rotating boarded head 11, the lower end of servomotor 4 is provided with independently rotary encoder 6; Compound sensor seat 3 is provided with ultrasonic transmission/reception sensor 31 and human body sensor 32; As preferably, in the present embodiment, the model of ultrasonic transmission/reception sensor 31 is UMT30-3400A-IUD-L5, and the model of human body sensor is Si1102.
Control treatment system 2 comprises: driven by servomotor module 7, barrier scanning main control module 8 and bus 9; Driven by servomotor module 7 is connected with servomotor 4, for controlling the open and close of servomotor 4; Obstacle scanning main control module 8 is connected with compound sensor seat 3, driven by servomotor module 7, rotary encoder 6 and bus 9, respectively for ACTIVE CONTROL, also for the treatment of data; Bus 9 is for transceiving data; As preferably, data collector 9 is CAN.
The front end of described ultrasonic transmission/reception sensor 31 is provided with the sound-absorbing pipe 10 for narrowing ultrasound wave receiving angle.
Described rotary encoder 6 is absolute encoder.
Described ultrasonic transmission/reception sensor 31 comprises: ultrasonic signal amplifier 311 and ultrasonic signal transceiver 312; Wherein:
Ultrasonic signal amplifier 311 is for amplifying ultrasonic signal;
Ultrasonic signal transceiver 312 is for sending and receiving ultrasound wave.
Described barrier scanning main control module 8 comprises single-chip microcomputer main control module 81 and ultrasonic distance measuring module 82; Wherein:
Single-chip microcomputer main control module 81 is for controlling driven by servomotor module 7 and ultrasonic signal transceiver 311;
The data that ultrasonic distance measuring module 82 feeds back for the treatment of rotary encoder 6 and compound sensor seat 3, and whether determine whether barrier, barrier size and barrier be people.
The concrete using method of the present embodiment, as shown in Figure 4:
S41: receive outside next instruction by bus 9, and barrier scanning main control module 8 is passed in instruction;
Particularly, bus 9, after receiving outside next instruction, can pass to instruction the single-chip microcomputer main control module 81 in barrier scanning main control module 8;
S42: whether barrier scanning main control module 8 decision instruction is effective;
Particularly, the single-chip microcomputer main control module 81 in barrier scanning main control module 8 can judge that whether this instruction is effective upon receipt of the instructions: as invalid, then directly abandon; As effectively, will decompose instruction, therefrom get scanning angle information;
S43: barrier scanning main control module 8 is according to scanning angle information, and control synchronization rotary system 1 rotates;
Particularly, the angle (45 °) of test is needed according to instruction, single-chip microcomputer main control module 81 on barrier scanning main control module 8 controls driven by servomotor module 7, in the angular range driving servomotor 4 certain before and after this angle, (40 ° ~ 50 °) rotate, and drive synchronous rotation system 1 to rotate; Meanwhile, single-chip microcomputer main control module 81 controls ultrasonic signal transceiver 311 and drives ultrasonic transmission/reception sensor 31; The angle decomposition that instruction needs is 50 points before and after this angle within the scope of certain angle by single-chip microcomputer main control module 81, and synchronous rotation system 1 is respectively at these somes pause certain hour (0.1 second);
S44: synchronous rotation system 1 acquisition scans data, feeds back to barrier scanning main control module 8 by scan-data;
Particularly, ultrasonic transmission/reception sensor 31 in synchronous rotation system 1 and human body sensor 32 will be tested in these pause points, get the data (ultrasound wave time of return and intensity) in these points, data in the data of these 50 test points and rotary encoder 6 string successively, acquisition be exactly the data of scanning;
S45: barrier scanning main control module 8 pairs of scan-datas process;
Particularly, the ultrasonic distance measuring module 82 pairs of scan-datas in barrier scanning main control module 8 process, and determine in the angle of specifying, have clear, barrier size and barrier whether to be people;
S46: final result of determination is outwards sent by bus 9 by barrier scanning main control module 8;
Particularly, final result of determination is outwards sent by bus 9 by the ultrasonic distance measuring module 82 in barrier scanning main control module 8: if do not have barrier, then send the data-signal of application angle clear; If there is barrier, then send that the size of barrier on this aspect, distance are how many, data-signal that whether barrier is people.
Obviously, those skilled in the art can carry out various change and modification to the utility model and not depart from spirit and scope of the present utility model.Like this, if these amendments of the present utility model and modification belong within the scope of the utility model claim and equivalent technology thereof, then the utility model is also intended to comprise these change and modification.
Claims (6)
1. a compound barrier scanner, is characterized in that: comprise synchronous rotation system (1) and control treatment system (2); Wherein: synchronous rotation system (1) comprises compound sensor seat (3), servomotor (4), support (5), rotary encoder (6) and rotates boarded head (11); Servomotor (4) is arranged on support (5); Compound sensor seat (3) is arranged on the upper end of servomotor (4) by rotating boarded head (11), the lower end of servomotor (4) is provided with independently rotary encoder (6); Compound sensor seat (3) is provided with ultrasonic transmission/reception sensor (31) and human body sensor (32); Control treatment system (2) comprising: driven by servomotor module (7), barrier scanning main control module (8) and bus (9); Driven by servomotor module (7) is connected with servomotor (4), for controlling the open and close of servomotor (4); Obstacle scanning main control module (8) is connected, for ACTIVE CONTROL, also for the treatment of data with compound sensor seat (3), driven by servomotor module (7), rotary encoder (6) and bus (9) respectively; Bus (9) is for transceiving data.
2. compound barrier scanner as claimed in claim 1, is characterized in that: the front end of described ultrasonic transmission/reception sensor (31) is provided with the sound-absorbing pipe (10) for narrowing ultrasound wave receiving angle.
3. compound barrier scanner as claimed in claim 1 or 2, is characterized in that: described rotary encoder (6) is absolute encoder.
4. compound barrier scanner as claimed in claim 1 or 2, is characterized in that: described ultrasonic transmission/reception sensor (31) comprising: ultrasonic signal amplifier (311) and ultrasonic signal transceiver (312); Wherein:
Ultrasonic signal amplifier (311) is for amplifying ultrasonic signal;
Ultrasonic signal transceiver (312) is for sending and receiving ultrasound wave.
5. compound barrier scanner as claimed in claim 1 or 2, is characterized in that: described barrier scanning main control module (8) comprises single-chip microcomputer main control module (81) and ultrasonic distance measuring module (82); Wherein:
Single-chip microcomputer main control module (81) is for controlling driven by servomotor module (7) and ultrasonic signal transceiver (311);
The data that ultrasonic distance measuring module (82) feeds back for the treatment of rotary encoder (6) and compound sensor seat (3), and whether determine whether barrier, barrier size and barrier be people.
6. compound barrier scanner as claimed in claim 1 or 2, is characterized in that: described bus (9) is CAN.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520768514.1U CN205049737U (en) | 2015-09-30 | 2015-09-30 | Compound barrier scanner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520768514.1U CN205049737U (en) | 2015-09-30 | 2015-09-30 | Compound barrier scanner |
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| Publication Number | Publication Date |
|---|---|
| CN205049737U true CN205049737U (en) | 2016-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520768514.1U Expired - Fee Related CN205049737U (en) | 2015-09-30 | 2015-09-30 | Compound barrier scanner |
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| Country | Link |
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| CN (1) | CN205049737U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105182346A (en) * | 2015-09-30 | 2015-12-23 | 长沙开山斧智能科技有限公司 | Composite barrier scanner and scanning method thereof |
| CN109343521A (en) * | 2018-09-27 | 2019-02-15 | 深圳乐动机器人有限公司 | A kind of robot cleans the method and robot in room |
-
2015
- 2015-09-30 CN CN201520768514.1U patent/CN205049737U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105182346A (en) * | 2015-09-30 | 2015-12-23 | 长沙开山斧智能科技有限公司 | Composite barrier scanner and scanning method thereof |
| CN109343521A (en) * | 2018-09-27 | 2019-02-15 | 深圳乐动机器人有限公司 | A kind of robot cleans the method and robot in room |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160224 Termination date: 20180930 |