CN208297734U - Biped robot's Intelligent tracking device - Google Patents
Biped robot's Intelligent tracking device Download PDFInfo
- Publication number
- CN208297734U CN208297734U CN201820931111.8U CN201820931111U CN208297734U CN 208297734 U CN208297734 U CN 208297734U CN 201820931111 U CN201820931111 U CN 201820931111U CN 208297734 U CN208297734 U CN 208297734U
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- China
- Prior art keywords
- circuit
- ultrasonic
- biped robot
- tracking device
- intelligent tracking
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model discloses biped robot's Intelligent tracking devices, include the single-chip minimum system being mounted on inside biped robot's Intelligent tracking device, and with the ultrasonic distance detection device of single-chip minimum system electrical connection, key circuit, voice warning circuit, and for whole device provide the power circuit of electric energy；Single-chip minimum system is made of single-chip microcontroller, crystal oscillating circuit, reset circuit；Ultrasonic distance detection device includes ultrasonic control circuit, the ultrasonic signal generator and ultrasonic sensor with ultrasonic control circuit electrical connection；The ultrasonic signal encountering barrier and rebounding back that ultrasonic sensor received ultrasonic signal generator issues, voice warning circuit carry out casting warning.The utility model provides a kind of biped robot's Intelligent tracking device, has a ultrasonic distance detection function, and it is economical and practical, easy to carry, power consumption is smaller, detection range is comprehensive, apart from detection accuracy height, high sensitivity, anti-interference strong feature.
Description
Technical field
The utility model relates to singlechip technology fields, more particularly to a kind of using single-chip microcontroller as the biped robot of core
Intelligent tracking device.
Background technique
95% information of the mankind in life process is to be obtained by vision, and blindman is given in dark world
Their work, life and social activity brings great inconvenience.It is maximum during blindman that how safety, which is walked,
Problem.
Blind person relies primarily on some traditional walking sticks and seeing-eye dog when walking alone.Simply the most commonly used is common hands
Cane is tapped on the ground with it, can help to say that people has found close barrier.But its major defect be cannot find compared with
Barrier and hanging barrier a little further.Therefore walking stick has many inconvenience in；However the cycle of training of seeing-eye dog
Too long and price is higher, is unfavorable for popularizing.
Being constantly progressive and develop with electronic technology, demand of the people to electronic product has been transferred to the life for the mankind
Service comes up.In order to preferably blind person be helped to walk, need to research and develop a kind of biped robot's Intelligent tracking dress with ultrasonic wave
It sets, the barrier on road of can moving ahead to blind person carries out the detection of distance and the information of obstacle distance is converted into sound mentioning
Show, blind person can be walked safely to reach assisting blind according to the sound of prompt, be problem to be solved in the prior art.
Summary of the invention
In view of the deficienciess of the prior art, the utility model provides a kind of biped robot's Intelligent tracking device, tool
Standby ultrasonic distance detection function, and it is economical and practical, easy to carry, power consumption is smaller, detection range is comprehensive, apart from detection accuracy
Height, high sensitivity, anti-interference strong feature.
To achieve the goals above, the technical solution adopted in the utility model is such that biped robot's Intelligent tracking
Device, comprising the single-chip minimum system being mounted on inside biped robot's Intelligent tracking device, and most with the single-chip microcontroller
The ultrasonic distance detection device of mini system electrical connection, key circuit, voice warning circuit, and electric energy is provided for whole device
Power circuit；The single-chip minimum system is made of single-chip microcontroller, crystal oscillating circuit, reset circuit, the single-chip microcontroller and crystal oscillator
Circuit, reset circuit electrical connection；The ultrasonic distance detection device include ultrasonic control circuit, and with the ultrasound
The ultrasonic signal generator and ultrasonic receiver of wave control circuit electrical connection；The ultrasonic receiver receives described super
The ultrasonic signal encountering barrier and rebounding back that acoustic signal generator issues, the voice warning circuit receive single-chip microcontroller
Data carry out casting warning；Voice warning circuit includes putting with a light emitting diode of single-chip microcontroller electrical connection, an operation
Big device and a buzzer.
As a preferred embodiment, single-chip microcontroller uses AT89C51 single-chip microcontroller.
As a preferred embodiment, reset circuit uses automatic power-on reset circuit.
As a preferred embodiment, crystal oscillating circuit uses the crystal oscillator of 12M.
As a preferred embodiment, ultrasonic distance detection device uses HY-SRF04.
As a preferred embodiment, single-chip microcontroller and the crystal oscillating circuit generate pulse, will be after pulse amplifying by triode
Send ultrasonic distance detection device to.
As a preferred embodiment, Intelligent tracking device is additionally provided with display circuit, and the display circuit is digital using LED
Pipe or/and liquid crystal display are shown.
As a preferred embodiment, it should be kept when biped robot's Intelligent tracking device installation ultrasonic distance detection device
Two energy converter centerline axis parallels and apart 4~8cm.Improve the precision and sensitivity and jamproof energy that distance detects
Power.
As a preferred embodiment, metal-back is provided with outside ultrasonic receiver.Improve anti-interference ability.
As a preferred embodiment, biped robot's Intelligent tracking bottom of device is additionally provided with driving wheel, the driving wheel
It is also connected with driving motor, the driving motor is to drive the driving wheel to walk.Or can also by the way of hand push,
Push driving wheel walking.
As a preferred embodiment, biped robot's Intelligent tracking is internally provided with the charging lithium electricity powered to the equipment
Pond group, the charged lithium cells group are charged by circumscripted power line to the charged lithium cells group.Further, charging lithium electricity
Pond group can also connect solar panel, and power supply to the device guarantees that the electricity of equipment is sufficient.
Compared with prior art, the utility model has the beneficial effects that the utility model has ultrasonic distance detection function,
And feature economical and practical, easy to carry, that power consumption is smaller, detection range is comprehensive.According to ultrasonic distance measurement principle, biped robot
Intelligent tracking device helps blind person to walk.Ultrasonic wave biped robot's Intelligent tracking device is to provide environment for blind person to guide
Auxiliary tool.Ambient enviroment is detected by ultrasonic sensor, the information of detection is then fed back into blind person, with this
Visual information required for them is carried out conversion to perceive convenient for blind person.
Detailed description of the invention
Fig. 1 is the Intelligent tracking functional block diagram of the utility model；
Fig. 2 is the Intelligent tracking circuit diagram one of the utility model；
Fig. 3 is the Intelligent tracking circuit diagram two of the utility model；
Fig. 4 is the Intelligent tracking main control flow chart of the utility model；
Fig. 5 is the display data stream journey figure of the Intelligent tracking of the utility model；
Fig. 6 is the alarm flow figure of the Intelligent tracking of the utility model；
Fig. 7 is the key control flow chart of the Intelligent tracking of the utility model.
Specific embodiment
The utility model is further described combined with specific embodiments below.Following embodiment is only used for clearly
Illustrate the technical solution of the utility model, and cannot be used as a limitation the limitation protection scope of the utility model.
Embodiment
As shown in Fig. 1 ~ 7, biped robot's Intelligent tracking device, comprising being mounted in biped robot's Intelligent tracking device
The single-chip minimum system in portion, and with the single-chip minimum system electrical connection ultrasonic distance detection device, key
Circuit, voice warning circuit, and the power circuit of electric energy is provided for whole device；The single-chip minimum system by single-chip microcontroller,
Crystal oscillating circuit, reset circuit composition, the single-chip microcontroller and crystal oscillating circuit, reset circuit are electrically connected；The ultrasonic distance inspection
Surveying device includes ultrasonic control circuit, and ultrasonic receiver and ultrasound with ultrasonic control circuit electrical connection
Wave sensor；The ultrasonic receiver receives the ultrasound encountering barrier and rebounding back that the ultrasonic signal generator issues
Wave signal, the data that the voice warning circuit receives single-chip microcontroller carry out casting warning.
In the utility model, single-chip microcontroller uses AT89C51 single-chip microcontroller；The utility model structure is simple, and interference is small, therefore uses
It powers on and automatically resets, in the moment of energization, in R C circuit charging process, positive pulse occurs in the end RST, therefore answers single-chip microcontroller
Position.The crystal oscillating circuit of single-chip microcontroller is mainly made of a 12M crystal oscillator and two low capacity capacitors C1, C2, and wherein capacitor C1, C2 is used
Stablize in by the output pulse frequency of crystal oscillator in 12MHz, crystal oscillator both ends are by the continual pulse to single-chip microcontroller input 12MHz
Frequency.More specifically, the main function of crystal oscillating circuit be within cycle time, crystal oscillator output pulse signal to single-chip microcontroller, with
This allows the single-chip microcontroller can to carry out execution according to the instruction of clock signal.Ultrasonic distance detection device uses HY-SRF04；
Single-chip microcontroller and the crystal oscillating circuit generate pulse, will send ultrasonic signal generator to after pulse amplifying by triode；Intelligence
Energy tracking device is additionally provided with display circuit, and the display circuit is shown using LED charactrons or/and liquid crystal display.
Further, HY-SRF04 ultrasonic sensor can provide the contactless distance sensing function of 2cm-450cm,
Range accuracy can reach 3mm.HY-SRF04 ultrasonic sensor includes ultrasonic control circuit, and with the ultrasonic wave control
The ultrasonic signal generator and ultrasonic receiver of circuit electrical connection processed.Its basic functional principle is using I0 mouthfuls of TRIG
Ranging is triggered, at least the high level signal of 10us, module send the square wave of 8 40Khz automatically to it, it can be detected whether automatically
There is signal return；If there is signal return, I0 mouthfuls of ECHO can export a high level, and high level duration is exactly ultrasonic wave
From the time for being emitted to return.Measuring distance=(the high level time * velocity of sound)/2.Ultrasonic distance measurement is emitted by means of ultrasonic wave
Receiving time is realized.It is T, aerial biography that ultrasonic wave, which is issued to by ultrasonic sensor and receives time experienced,
The speed broadcast is C, so the distance D from sensor to target object can be found out with following formula: D=CT/2.Emitted hair
It penetrates and is about 6mm, frequency is the ultrasonic signal of 40000HZ, this signal is received by reception head after being reflected by the object back, connect
The energy converter that head is actually a kind of piezoelectric effect is received, it generates mV grades of faint voltage signals after receiving signal.
Specifically, the center operating frequency of ultrasonic sensor is 40KHz in the utility model, when this frequency of deviation
When, its receiver sensitivity will be substantially reduced, and can specifically be learnt from the characteristic curve of ultrasonic sensor.Work as transmission
When 40KHz frequency, received signal is most strong, therefore distance is also just maximum, and when deviateing, the distance of detection can also shorten.So
And to the driving signal for generating 40KHz, there are many kinds of methods, can select inductance, capacitive tank element to complete the hair of signal
Raw device, but its frequency stability is poor, is less susceptible to harmonize, so a possibility that being successful is relatively small.In this reality
In novel, generation circuit of the single-chip microcontroller as signal is selected, because using the good crystal oscillator of frequency stability as system
Clock, so have high stability, therefore the driving signal generated is also more stable, it, can also when working out different programs
To obtain different rate-adaptive pacemakers.
Judgment basis of the circuit using the signal strength indication that receives as barrier, so being also this to the selection started to control a little
Design and produce successfully critical a part.Because the power of reflected ultrasonic signal is related with environmental factor,
Debugging when have to it is very careful, pays attention to change apart from when, the size of actual direct-current control voltage will be selected reasonably
Good voltage comparing element starts to control a little, and then reaches alarm when distance is less than setting value.Further, the setting of distance passes through
Setting is adjusted in key circuit, and the main function of key is the adjustable of effective distance, is adjustment under function key first apart from upper
Limit is adjusted apart from lower limit, then by function by function key exit setting again.
Further, voice warning circuit is made of a light emitting diode, an operational amplifier and a loudspeaker
's.The resistance value of R25 is 1K, and the resistance value of R26 is 10K.Two-level operating amplifier uses F007 chip, two-stage amplifying circuit
It is all negative-feedback connection, as reverse phase scaling circuit, and in reverse phase scaling circuit, input signal is from anti-phase input
When the input of end, non-inverting input terminal ground connection, the characteristics of according to " void disconnected " and " void is short ", i.e. i=i+=0, u=u+.And it is so-called " empty short "
Be because of ideal integrated transporting discharging Au0 → ∞, it is believed that the differential mode voltage between two input terminals is approximately zero, i.e. Uid=u=+
≈ 0, i.e. u=u+；And u0 has certain value, because the voltage between two input terminals is zero, it is not short circuit again, so being known as " empty
It is short ".And " empty short " is because the input resistance of ideal integrated transporting discharging is Rid → ∞, it is believed that input terminal is into electric current, i.e.,
I=i+ ≈ 0, such input terminal are equivalent to open circuit, rather than disconnecting circuit, become " void is disconnected ".And in circuit, inverting input terminal
With ground terminal equipotential, and because be not really to be grounded, such case becomes " needing ground ", so iI=Ui/RI, iF=(u_-
U0)/Rf=- u0/Rf, and because of i_=0, iI=if, then u0=(Rf/Ri) uI can be obtained, so signal can be amplified.
Specifically, the display circuit is shown using LED charactrons.The LED display of the LED charactrons stroke is in list
It is generally used to show various characters in piece machine, due to his long service life, display is clear, is hardly damaged, so using very wide
It is general.Dynamic and static status display are two kinds of display modes of LED, and the utility model is used eight stroke section a- of whole displays
The Dynamically Announce interface circuit that h Same Name of Ends connects together, the public pole COM of each display of I/0 line traffic control.In single-chip microcontroller to word
When section outlet output font code, whole displays can all receive same font code, finally be determined with which display by COM
It is fixed.By time-sharing approach each display can successively be lighted.In this process, each display all only can be bright
Seldom time.
Specifically, biped robot's Intelligent tracking bottom of device is additionally provided with driving wheel, the driving wheel is also connected with drive
Dynamic motor, the driving motor is to drive the driving wheel to walk.Or it driving wheel can also be walked by the way of hand push.
Biped robot's Intelligent tracking is internally provided with the charged lithium cells group powered to the equipment, and the charged lithium cells group passes through
Circumscripted power line charges to the charged lithium cells group.As a preferred embodiment, charged lithium cells group can also connect solar energy
Solar panel, power supply to the device guarantee that the electricity of equipment is sufficient.Convenient for biped robot's Intelligent tracking device using not by distance
Limitation, at the same using rechargeable battery can enable the device to carry it is outgoing, it is external too can solar panel can also give equipment real time charging,
Guarantee that equipment electric energy is sufficient, meets the needs of user as far as possible.As a preferred embodiment, biped robot's Intelligent tracking fills
Two energy converter centerline axis parallels should be kept when setting installation ultrasonic distance detection device and at a distance of 4~8cm.Improve distance
The precision of detection and sensitivity and jamproof ability.Metal-back is provided with outside ultrasonic receiver.Improve anti-interference energy
Power.
When biped robot's Intelligent tracking device starts ranging, start to work inside STC89C51 single-chip microcontroller, single-chip microcontroller
The end P01 generate 10us TTL, STC89C51 single-chip microcontroller can inside recycle generate 8 40KHz pulse signals, using interior
Portion amplifies automatically, and can continue transmitting 200us, can export a response signal while end P32 of single-chip microcontroller receives.This
Response signal can be with detecting distance proportion relation.By STC89C51 single-chip microcontroller, can be generated for P01 mouthfuls after being worked
The pulse signal of 40KHz is driving ultrasonic signal generator by triode amplification, to generate ultrasonic wave later.Ultrasonic wave
The reception head of sensor and the emitting head of ultrasonic signal generator match, it will ultrasonic wave modulation pulse transition at
Alternating voltage signal.After the amplification of the two-stage of operational amplifier, the centre frequency f0 of circuit internal voltage controlled oscillator is 1/
1.R8C3, the effect of capacitor C4 are to determine that it locks bandwidth.Input signal amplifies 25mv, and output end P32 is more become from high level
Low level, and the signal interrupted as request, are then delivered to single-chip microcontroller and are handled.Start monolithic while starting transmit circuit
Timer T0 inside machine just records the launch time of ultrasonic wave using timer count function and receives the back wave time.Institute
A negative jump is generated whenever receiving a ultrasonic reflections wave, to receive the output end of circuit, produces an interruption
Request signal executes external interrupt, and read access time is poor when single-chip microcontroller responds the request of this external interrupt automatically, calculates distance.
Biped robot's Intelligent tracking device user first carries out the sequence of operations process such as electrification reset, after powering on successfully
Initial phase will be immediately entered, at this stage single-chip microcontroller by immediately to its inside RAM and register be zeroed out, it is ensured that it is single
Piece machine is able to carry out normal data operation, after the completion of single-chip microcontroller initialization, generates 40KHz by the crystal oscillating circuit of single-chip microcontroller
Pulse signal, by triode amplification later driving ultrasonic signal generator, to generate ultrasonic wave, ultrasonic wave is encountering
It is returned after barrier, ultrasonic signal is received by the reception head of ultrasonic sensor, by turning received ultrasonic signal
It is melted into level value, is sent as an envoy to by comparing the size calculating of the level value of Ultrasonic transformation after the level value and reception for emitting ultrasonic wave
The distance between user and barrier can also pass through voice warning circuit while showing distance by LED charactrons
Data-voice is broadcasted, realizes the distance detection effect of barrier.The utility model realizes a kind of biped robot's intelligence
Can tracking device, have a ultrasonic distance detection function, and it is economical and practical, easy to carry, power consumption is smaller, detection range is comprehensive
Feature.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without deviating from the technical principle of the utility model, several improvement and deformations can also be made, these change
It also should be regarded as the protection scope of the utility model into deformation.
Claims (10)
1. biped robot's Intelligent tracking device, it is characterised in that: comprising being mounted on inside biped robot's Intelligent tracking device
Single-chip minimum system, and with the single-chip minimum system electrical connection ultrasonic distance detection device, key electricity
Road, voice warning circuit, and the power circuit of electric energy is provided for whole device；The single-chip minimum system is by single-chip microcontroller, crystalline substance
Shake circuit, reset circuit composition；The single-chip microcontroller and crystal oscillating circuit, reset circuit are electrically connected；The ultrasonic distance detection
Device include ultrasonic control circuit, and with the ultrasonic control circuit electrical connection ultrasonic signal generator and surpass
Acoustic receiver；What the ultrasonic receiver received that the ultrasonic signal generator issues encounter, and barrier rebound back surpasses
Acoustic signals, the data that the voice warning circuit receives the single-chip microcontroller carry out casting warning；The voice warning circuit packet
Include a light emitting diode, an operational amplifier and the buzzer with single-chip microcontroller electrical connection.
2. biped robot's Intelligent tracking device according to claim 1, it is characterised in that: the single-chip microcontroller uses
AT89C51 single-chip microcontroller.
3. biped robot's Intelligent tracking device according to claim 1, it is characterised in that: the reset circuit is using upper
Electric automatic reset circuit.
4. biped robot's Intelligent tracking device according to claim 1, it is characterised in that: the crystal oscillating circuit uses
The crystal oscillator of 12M.
5. biped robot's Intelligent tracking device according to claim 1, it is characterised in that: the ultrasonic distance detection
Device uses HY-SRF04.
6. biped robot's Intelligent tracking device according to claim 1, it is characterised in that: the single-chip microcontroller and the crystalline substance
The circuit that shakes generates pulse, will send ultrasonic distance detection device after pulse amplifying to by triode.
7. biped robot's Intelligent tracking device according to claim 1, it is characterised in that: biped robot's intelligence
Tracking device should keep two energy converter centerline axis parallels and at a distance of 4~8cm when installing ultrasonic distance detection device.
8. biped robot's Intelligent tracking device according to claim 1, it is characterised in that: outside the ultrasonic receiver
Portion is provided with metal-back.
9. biped robot's Intelligent tracking device according to claim 1, it is characterised in that: biped robot's intelligence
Tracking device bottom is additionally provided with driving wheel, and the driving wheel is also connected with driving motor, and the driving motor is to drive
State driving wheel walking.
10. biped robot's Intelligent tracking device according to claim 1, it is characterised in that: biped robot's intelligence
Energy tracking device is internally provided with the charged lithium cells group powered to biped robot's Intelligent tracking device, the charging lithium
Battery pack is charged by circumscripted power line to the charged lithium cells group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820931111.8U CN208297734U (en) | 2018-06-15 | 2018-06-15 | Biped robot's Intelligent tracking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820931111.8U CN208297734U (en) | 2018-06-15 | 2018-06-15 | Biped robot's Intelligent tracking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208297734U true CN208297734U (en) | 2018-12-28 |
Family
ID=64700628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820931111.8U Expired - Fee Related CN208297734U (en) | 2018-06-15 | 2018-06-15 | Biped robot's Intelligent tracking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208297734U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108415021A (en) * | 2018-06-15 | 2018-08-17 | 苏州工业职业技术学院 | Biped robot's Intelligent tracking device |
-
2018
- 2018-06-15 CN CN201820931111.8U patent/CN208297734U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108415021A (en) * | 2018-06-15 | 2018-08-17 | 苏州工业职业技术学院 | Biped robot's Intelligent tracking device |
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| 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: 20181228 Termination date: 20200615 |