CN209542839U - Obstacle avoidance system for Vending Machine - Google Patents
Obstacle avoidance system for Vending Machine Download PDFInfo
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- CN209542839U CN209542839U CN201822002333.4U CN201822002333U CN209542839U CN 209542839 U CN209542839 U CN 209542839U CN 201822002333 U CN201822002333 U CN 201822002333U CN 209542839 U CN209542839 U CN 209542839U
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Abstract
The utility model belongs to ultrasonic distance measurement field, it is particularly used for the obstacle avoidance system of Vending Machine, including Vending Machine front housing sensor main control module and chassis main control module, Vending Machine front housing sensor main control module is provided with master controller, laser radar, avoiding obstacles by supersonic wave circuit and crash sensor, for detecting barrier in Vending Machine navigation moving process, crash sensor is used to detect shock signal when Vending Machine surprisingly collides avoiding obstacles by supersonic wave circuit；Chassis main control module is provided with chassis main controller, power module, driving motor module and gyroscope, is able to achieve multi-faceted detection and driving avoidance of the Vending Machine during selling cargo, improves detection sensitivity and accuracy；Effectively optimization circuit, sufficiently improves efficiency, so that the power of transmitting ultrasonic wave is sufficiently large, to realize higher detectivity；Echo processing circuit designs so that subsequent conditioning circuit processing is simple and easy, and the speed of response is effectively promoted.
Description
Technical field
The utility model belongs to ultrasonic distance measurement field, and in particular to a kind of obstacle avoidance system for Vending Machine.
Background technique
With the development of sensor technology, in distance measuring sensor field, more commonly used technical solution is divided by following three kinds
Not are as follows: infrared distance measurement, laser ranging and ultrasonic distance measurement.Infrared distance sensor has low cost, circuit structure simply excellent
Gesture, but its detection range is compared with close, precision is relatively low；Laser range sensor is detection range and precision in above-mentioned three kinds of sensors
Highest but its use cost is excessively high；The effect of ultrasonic distance-measuring sensor between infrared between two kinds of ranging schemes of laser,
It is and higher to the adaptability of environment with the moderate and higher detection accuracy of detection range, particularly with transparent substance (such as glass
Glass etc.) can be carried out effective detection, and detecting transparent substance is not available for optical sensor, but telemeasurement exist it is certain
Problem.
Therefore, in mobile device long range moving process, multiple sensors are arranged on different location, in respective advantage
Work, complementary matching in field, to guarantee to realize effective avoidance detection.
Utility model content
To overcome the above the deficiencies in the prior art, the utility model discloses a kind of avoidance systems for Vending Machine
System.
In order to solve the above-mentioned technical problem, the utility model uses following technical scheme: providing a kind of for automatic vending
The obstacle avoidance system of machine, including Vending Machine front housing sensor main control module and chassis main control module, before the Vending Machine
Shell sensor main control module is provided with master controller, laser radar, avoiding obstacles by supersonic wave circuit and crash sensor, the laser thunder
Up to for navigating for Vending Machine, the avoiding obstacles by supersonic wave circuit in Vending Machine navigation moving process for detecting
With avoidance, the crash sensor is used to detect shock signal when Vending Machine surprisingly collides barrier；The bottom
Disk main control module is provided with power module, driving motor module and gyroscope, and the power module is for giving chassis master control mould
Block is powered, and the driving motor module executes corresponding movement for controlling Vending Machine, and the gyroscope is for surveying
Measure the angle information of Vending Machine；The front housing sensor main control module is led to egative film main control module by CAN bus
Letter；
Wherein, the front housing sensor module detects the Vending Machine signal of each sensor feedback, passes through CAN bus
Transmit information；After receiving the feedback information, chassis main control module passes through the angle information control of gyroscope Real-time Feedback vending machine
Driving motor module drive motor processed, so that Vending Machine carries out mobile avoidance.Further, the avoiding obstacles by supersonic wave electricity
Road includes controlling processing unit, serial port circuit, power management module and multichannel ultrasonic transmission circuit, CAN Transmit-Receive Unit,
Wherein the control processing unit is connected separately with ultrasonic transceiver circuit, serial port circuit, power management module and CAN transmitting-receiving
Unit, the power management module are described for ultrasonic transceiver circuit, CAN Transmit-Receive Unit and the power supply for controlling processing unit
Control processing unit is used to communicate and control with master controller the operating control of each module.
As the further improvement of the system, the ultrasonic transceiver circuit by least three independent ultrasonic waves transmittings and
Circuit composition is received, each independent circuits are set to the different direction of system.
Inventor proposes, since most of autonomous mobile apparatus volume is larger and the limitation of ultrasonic probe investigative range,
Existing ultrasonic distance measurement scheme cannot be detected effectively since blind area is larger and carry out multi-angle avoidance, and the utility model is adopted
The detection of obstacles to three front of system, left side and right side directions is realized with 6 equally distributed independent probes.
Further, each independent circuits include transceiver ultrasonic probe, transmitting-receiving in the ultrasonic transceiver circuit
Driving circuit and echo signal processing circuit；Wherein, processing unit, transmitting-receiving driving circuit, transceiver ultrasonic probe are controlled
And echo signal processing circuit closed loop connection.
The advantage of the utility model scheme compared with the existing technology be ultrasonic transceiver circuit be effectively isolated drive part,
Extra noise is caused so that each section will not generate signal interference in echo signal processing circuit part and CAN transceiver part；
Circuit uses energy bleeder resistance, for discharging the dump energy after ultrasonic signal transmitting in coil, using clamp diode,
So that the amplitude of echo-signal is limited between positive and negative 0.7V, follow-up signal processing circuit is caused to damage to prevent amplitude excessively high
It is bad；Using 10:1 isolation boosting transformer, driving signal increases to the drive signal amplitude on right side by transformer original
10 times, to effectively increase the emissive porwer of ultrasonic signal；Effectively optimization circuit, sufficiently improves efficiency, so that circuit is effective
Improve detectivity and minimum detection blind area.
Further, reception of the transmitting-receiving driving circuit for ultrasonic signal transmitting and echo-signal, wherein ultrasound
Wave transmitting has the pulse signal detection barrier of setting amplitude and frequency.
Inventor points out that energy size when emitting due to pulse number to ultrasonic wave is directly proportional, and pulse number is more, becomes
The energy put aside in transformer coil is more, and the distance that ultrasonic wave is propagated in air is also farther, but can cause remained shock of popping one's head in
Time increases, and increases the detection blind area of ultrasonic ranging system indirectly.Transmitting pulse number is controlled according to practical application scene,
Detection range is utmostly improved with this and reduces detection blind area.
As a kind of more preferable scheme, echo signal processing circuit includes primary amplifying circuit, filter circuit, secondary amplification
Circuit, detection shaping circuit and level shifting circuit, wherein echo-signal is first by filter circuit after primary amplifying circuit is amplified
It is filtered, carries out secondary amplification through secondary amplification circuit again thereafter, most obtain square-wave signal through detection shaping circuit afterwards, pass through
Level shifting circuit is converted into switching signal.
Inventor points out, thus the echo processing circuit of existing scheme is brought by the way of first amplifying and being filtered again
The problem of be also be exaggerated other noise signals while amplifying echo-signal, thus increase filtering processing circuit difficulty
Degree, so that subsequent conditioning circuit is more complicated, the speed of response reduces.The preamplifying circuit filter capacitor of application scheme will receive and dispatch one
The low-frequency d signal in echo-signal that body probe receives filters, so that preamplifying circuit is only to the friendship in echo-signal
Signal amplification is flowed, is effectively filtered by unlimited gain multiple feedback bandpass filter；Secondary amplification circuit is to filtered
Signal carries out secondary amplification to meet the requirement of subsequent processing；The overall gain of amplifying circuit reaches 30dB after two-stage treatment；
40kHz high-frequency signal forms round and smooth envelope signal after detecting circuit；Since envelope signal is not easy to processor processing, need
Envelope signal after detection is subjected to shaping；Since the intensity that ultrasonic probe receives echo-signal is arrived barrier by itself
Between distance and such environmental effects so that signal amplitude after handling shaping has uncertainty, for the ease of processing
Device is handled, and the signal amplitude after needing to carry out detection shaping is converted into the switch that amplitude is 3.3V by level shifting circuit
Signal, after above-mentioned processing, the obtained signal of this system effectively reflects detecting distance, so that detection sensitivity is effectively promoted.
Above-mentioned echo signal processing circuit is only the single channel electricity in the ultrasonic distance measurement obstacle avoidance system of the utility model
Road, whole system are made of 6 identical channels, it is achievable to multiple directions while detect.
Further, CAN transmission circuit one end is connected with control processing unit, and the other end is connected with master controller,
For realizing the communication between control processing unit and master controller, the mainly transmission of information command and data.
In order to improve the versatility of ultrasonic distance measurement obstacle avoidance system and conducive to the integration of follow-up system, which is kept away
Barrier system realizes the interconnection with other systems unit using CAN communication.Due to CAN bus have real-time is good, long transmission distance,
A little convenient for node expansion, strong antijamming capability, low cost, ultrasonic distance measurement obstacle avoidance system, which can according to need, is extended
It is integrated with other systems, to have high versatility.
The utility model has the following beneficial effects: being able to achieve multi-faceted inspection of Vending Machine during selling cargo
Avoidance is surveyed and driven, detection sensitivity and accuracy are improved；Effectively optimization circuit, sufficiently improves efficiency, so that transmitting ultrasonic wave
Power it is sufficiently large, to realize detectivity more higher than conventional ADS driving mode；Echo processing circuit design so that after
Continuous processing of circuit is simple and easy, and the speed of response is effectively promoted；Remaining module uses 232 serial ports and CAN communication to realize ultrasonic wave
Number of channels freely configure and the interconnection with other systems unit, can also the interconnection of multiple ultrasonic distance measurement obstacle avoidance systems, at most
Can be achieved up to 110 autonomous system units interconnection, so as to carry out according to actual needs ultrasonic system extension and with
The integration of other systems has high versatility and practicability.
Detailed description of the invention
Fig. 1 is the obstacle avoidance system block diagram that the utility model is used for Vending Machine；
Fig. 2 is the obstacle avoidance system avoiding obstacles by supersonic wave circuit system block diagram that the utility model is used for Vending Machine；
Fig. 3 is the obstacle avoidance system avoiding obstacles by supersonic wave circuit diagram that the utility model is used for Vending Machine；
Fig. 4 is the obstacle avoidance system avoiding obstacles by supersonic wave circuit echo processing circuit structure that the utility model is used for Vending Machine
Block diagram；
Fig. 5 is the obstacle avoidance system avoiding obstacles by supersonic wave circuit echo signal processing circuit that the utility model is used for Vending Machine
Figure.
Specific embodiment
As shown in Figure 1, the utility model provides a kind of obstacle avoidance system for Vending Machine, including before Vending Machine
Shell sensor main control module and chassis main control module, the Vending Machine front housing sensor main control module are provided with main control
Device, laser radar, avoiding obstacles by supersonic wave circuit and crash sensor, the laser radar are used to navigate for Vending Machine,
The avoiding obstacles by supersonic wave circuit is for detecting barrier in Vending Machine navigation moving process with avoidance, the crash sensor
For detecting shock signal when Vending Machine surprisingly collides；The chassis main control module is provided with power module, drives
Dynamic motor module and gyroscope, the power module to chassis main control module for being powered, the driving motor module
Corresponding movement is executed for controlling Vending Machine, the gyroscope is used to measure the angle information of Vending Machine；It is described
Front housing sensor main control module is communicated with egative film main control module by CAN bus；
Wherein, the front housing sensor module detects the Vending Machine signal of each sensor feedback, is received and dispatched by CAN
Circuit transmission information；After receiving the feedback information, chassis main control module is believed by the angle of gyroscope Real-time Feedback vending machine
Breath control driving motor module drive motor, so that Vending Machine carries out mobile avoidance.
Further improvement for above scheme, the avoiding obstacles by supersonic wave circuit include control processing unit 2, serial port circuit
4 and power management module 6, it further include multichannel ultrasonic transmission circuit 1, CAN Transmit-Receive Unit 3, wherein control processing is single
Member 2 is connected separately with ultrasonic transceiver circuit 1, serial port circuit 4, power management module 6 and CAN Transmit-Receive Unit 3, the electricity
Source control module 6 is for ultrasonic transceiver circuit 1, CAN Transmit-Receive Unit 3 and the power supply for controlling processing unit 2, the control processing
Unit 2 is used to communicate and control with master controller 5 operating control of each module, and the ultrasonic transceiver circuit 1 is for detecting barrier
Hinder object 8 and measure distance, ultrasonic transceiver circuit 1 is emitted by least three independent ultrasonic waves and received circuit and forms, each
Independent circuits are set to the different direction of system.In view of the volume of Vending Machine itself is larger and ultrasonic probe detects model
The limitation enclosed, the probe that the utility model is evenly arranged using 6 realize the obstacle to three directions in front and left and right of equipment
Analyte detection；6 channel ultrasonic transmission circuits 1 are emitted by 6 independent ultrasonic waves and are received circuit and form, and CAN Transmit-Receive Unit 3 is adopted
With TJA1051, the power management module 6 is for ultrasonic transceiver circuit, CAN Transmit-Receive Unit 3 and the confession for controlling processing unit 2
Electricity, it includes the power supply of tri- kinds of voltage of 12V, 5V, 3.3V, the input voltage range of system is 15~36V, and the control processing is single
Member 2 uses STM32F103C8T6, for the operating control of each module to be communicated and controlled with master controller 5,
The schematic diagram of avoiding obstacles by supersonic wave circuit is as Figure 2-3；11 it is transceiver ultrasonic probe in figure, 12 is transmitting-receiving
Driving circuit, 13 be echo signal processing circuit, 2 be control processing unit, 3 be CAN Transmit-Receive Unit, 5 be master controller, 8 be
Barrier.The utility model uses 6 groups of independent ultrasonic transceiver circuits, and 6 groups of transmission circuits all pass through control processing unit 2
Carry out the control of transmitting and signal operation processing.Using scheme, the advantage of scheme is have to the utility model compared with the existing technology
Effect isolation transmitting-receiving driving circuit, echo signal processing circuit and CAN transceiver, will not make it mutually cause signal mutual interference.Transmitting-receiving
Reception of the driving circuit 12 for ultrasonic wave transmitting and echo-signal, including energy bleeder resistance, for discharging ultrasonic signal
Dump energy after transmitting in coil；Further include clamp diode, the amplitude of echo-signal be limited between positive and negative 0.7V,
Follow-up signal processing circuit is damaged with preventing amplitude excessively high；Isolation boosting transformer is also comprised, driving signal is passed through
The drive signal amplitude on right side is increased to original 10 times by transformer, to increase the emissive porwer of ultrasonic signal.
The driving signal of ultrasonic wave transmitting uses amplitude for 3.3V, and the pulse signal that frequency is 40kHz drives, transmitting 4~8
A pulse, specific pulse number are determined according to actual use scene.Energy size when being emitted due to pulse number and ultrasonic wave
Directly proportional, pulse number is more, and the energy put aside in transformer coil is more, and the distance that ultrasonic wave is propagated in air is also more
Far, but the time of probe remained shock can be caused to increase, increases the detection blind area of ultrasonic ranging system indirectly.The utility model root
Transmitting pulse number is automatically selected according to practical application scene；Utmostly detection range is improved with this and drops to detection blind area most
It is small.
Echo signal processing circuit block diagram as shown in figure 4, its by primary amplifying circuit, filter circuit, secondary amplification circuit,
Detection shaping circuit and five part of level shifting circuit composition.Physical circuit schematic diagram is as shown in figure 5, transceiver ultrasonic wave is visited
Head be connected to 1 one end of first resistor, 21 other end of first resistor is connected with 22 one end of first capacitor, first capacitor 22 it is another
End is connected with the inverting input terminal of the first amplifier 24；The non-inverting input terminal of first amplifier 24 is connected to the one of second resistance 23
End, the other end of second resistance 23 are connected to one end of 3rd resistor 27, the other end of 3rd resistor 27 and the first amplifier 24
Output end is connected；The non-inverting input terminal of first amplifier 24 is connect with one end of the second capacitor 54, the other end of the second capacitor 54
Ground connection；The output end of first amplifier 24 is connected with 26 one end of the 4th resistance, and the other end of the 4th resistance 26 is connected to third electricity
Hold 28 one end, the other end of third capacitor 28 is connected to the inverting input terminal of the second amplifier 29；Second amplifier 29 it is same mutually defeated
Enter end to be connected with one end of the 5th resistance 27, the other end of the 5th resistance 27 is connected to the 6th resistance 30 and the 4th capacitor 31
One end after parallel connection, the other end after the 6th resistance 30 and 31 parallel connection of the 4th capacitor are connected with the output end of the second amplifier 29；
The non-inverting input terminal of second amplifier 29 is connected with one end of the second capacitor 54, the other end ground connection of the second capacitor 54；Second fortune
It puts 29 output end to be connected with one end of the 7th resistance 32, the other end of the 7th resistance 32 is connected with one end of the 5th capacitor 33
It connects, the other end of the 5th capacitor 33 is connected with the inverting input terminal of third amplifier 34；The inverting input terminal of third amplifier 34 with
One end of 8th resistance 35 is connected, and the other end of the 8th resistance 35 is connected to the output end of third amplifier 34；Third amplifier 34
Non-inverting input terminal on the one hand be connected with one end of the 15th resistance 52, another termination power of the 15th resistance 52 is another
Aspect is connected with one end of the 16th resistance 53, the other end ground connection of the 16th resistance 53；The output end of third amplifier 34 with
One end of 6th capacitor 36 is connected, and the other end of the 6th capacitor 36 is connected to one end of detector diode 37, detector diode
37 other end is connected to the non-inverting input terminal of four high guaily unit 50；The non-inverting input terminal of four high guaily unit 50 and the 9th resistance 38 and
One end after 7th capacitor, 39 parallel connection is connected, and the other end after the 9th resistance 38 and 39 parallel connection of the 7th capacitor is connected to the 4th fortune
Put 50 inverting input terminal；On the one hand the inverting input terminal of four high guaily unit 50 connects power supply through the tenth resistance 43, on the other hand through the
11 resistance 42 ground connection；The output end of four high guaily unit 20 is connected with one end of zener diode 44, zener diode 44 it is another
One end is connected to the base stage of triode 47；One end after the base stage of triode 47 is in parallel with twelfth resistor 46 and the 8th capacitor 45
It is connected, the other end ground connection after 45 parallel connection of twelfth resistor 46 and the 8th capacitor；The emitter of triode 47 is grounded；Triode
47 collector is connected with one end of thirteenth resistor 48, another termination power of thirteenth resistor 48；Triode 47 and
One end of 14 resistance 49 is connected, and the other end of the 14th resistance 49 is connected to signal output end.Wherein amplifier 24,29,
34,50 be single supply op, is all made of 12V power supply power supply；Power supply 41,51 is 12V power supply；Resistance 52,53 is bias bleeder electricity
Resistance, provides forward bias voltage for amplifier 24,29,34 in figure, 54 be decoupling capacitor.21~25 composition preamplifying circuits, 21
It is capacitance for input resistance, 22,23 be input signal pull-up resistor, and 24 be single supply op, and 25 be feedback resistance；Before
The gain of grade amplification is determining by resistance 21 and resistance 25, forward gain 8dB；Filter capacitor 22 is by transceiver ultrasonic wave
Low-frequency d signal in the echo-signal received of popping one's head in filters, so that preamplifying circuit is only to the exchange in echo-signal
Signal amplification.26~31 constitute unlimited gain multiple feedback bandpass filters, centre frequency and pass band width by resistance 26,
27,30 and capacitor 28,31 determine；The centre frequency of design be 40.1kHz, passband gain 7dB, bandwidth be 36.918kHz~
43.283kHz；32~35 constitute secondary amplification circuit, carry out secondary amplification to filtered signal and are wanted with meeting subsequent processing
It asks；Circuit structure is consistent with primary amplifying circuit, and the signal due to entering secondary amplifier section has been subjected to filtering, only need by
Filtered signal, which is amplified to, meets subsequent processing requirement；The gain of secondary amplification circuit is 15dB；Therefore after treatment
The overall gain of amplifying circuit is 30dB.36~45 constitute detection shaping circuit, wherein 36~39 be detecting circuit, 41~45 be whole
Shape circuit；36 be capacitance in detecting circuit, and 37 be detector diode, and resistance 38 and capacitor 39 constitute low-pass filter；
40kHz high-frequency signal forms round and smooth envelope signal after detecting circuit；Since envelope signal is not easy to processor processing, need
Envelope signal after detection is subjected to Shape correction and obtains switching signal；Practical shaping circuit is 41~45 voltages constituted
The reverse side of comparator, amplifier 50 obtains the reference voltage of 6V by resistance 42 and the partial pressure of resistance 43, and envelope signal is by comparing
The square-wave signal of certain pulsewidth is obtained after device；Zener diode 44 is for filtering out the lower interference signal of amplitude.
Since ultrasonic probe receives the intensity of echo-signal by itself to the distance and environmental factor shadow between barrier
It rings, so that the signal amplitude after handling shaping has uncertainty, is handled, examined for the ease of processor
Signal amplitude after wave shaping is converted into the range that processor can use.46~50 be level shifting circuit in figure, and 46 be base
Grade pull down resistor, 47 be NPN triode, and 48 be collector pull-up resistor, and 49 be processor I/O mouthfuls of current-limiting resistance, and 50 be 3.3V
Power supply；After level shifting circuit, the signal after detection shaping is converted into the switching signal that amplitude is 3.3V.Above-mentioned echo letter
Number processing circuit is only the single channel circuit in the ultrasonic distance measurement obstacle avoidance system of the utility model, and whole system is by 6 phases
With channel composition, it is achievable to multiple directions while detect.
In order to improve the versatility of the obstacle avoidance system for Vending Machine and conducive to the integration of robot system, this is used for
It is the interconnection of same unit that the obstacle avoidance system of Vending Machine, which uses CAN communication to realize with other,.Since CAN bus has real-time
Good, long transmission distance, the obstacle avoidance system convenient for node expansion, strong antijamming capability, the advantage of low cost, for Vending Machine
It can according to need and be extended and integrated with other systems, to have high versatility.The utility model is answered
It is specifically as follows detection of obstacles (be not limited to robot system) of the Vending Machine in sale motion process with scene.
Claims (7)
1. being used for the obstacle avoidance system of Vending Machine, which is characterized in that including Vending Machine front housing sensor main control module and
Chassis main control module, the Vending Machine front housing sensor main control module are provided with master controller, laser radar, ultrasonic wave and keep away
Hinder circuit and crash sensor, the laser radar is used to navigate for Vending Machine, and the avoiding obstacles by supersonic wave circuit is used
Detection barrier is in Vending Machine navigation moving process with avoidance, and the crash sensor is for detecting Vending Machine meaning
Shock signal when colliding outside；The chassis main control module is provided with chassis main controller, power module, driving motor module
And gyroscope, the power module to chassis main control module for being powered, and the driving motor module is for controlling certainly
Dynamic vending machine executes corresponding movement, and the gyroscope is used to measure the angle information of Vending Machine；The front housing sensor
Main control module is communicated with egative film main control module by CAN bus；
Wherein, the front housing sensor module detects the Vending Machine signal of each sensor feedback, is transmitted by CAN bus
Information；After receiving the feedback information, chassis main control module is controlled by the angle information of gyroscope Real-time Feedback vending machine and is driven
Dynamic motor module driving motor, so that Vending Machine carries out mobile avoidance.
2. being used for the obstacle avoidance system of Vending Machine as described in claim 1, which is characterized in that the avoiding obstacles by supersonic wave circuit
Including controlling processing unit, serial port circuit, power management module and multichannel ultrasonic transmission circuit, CAN Transmit-Receive Unit,
Described in control processing unit to be connected separately with ultrasonic transceiver circuit, serial port circuit, power management module and CAN transmitting-receiving single
Member, the power management module is for ultrasonic transceiver circuit, CAN Transmit-Receive Unit and the power supply for controlling processing unit, the control
Processing unit processed with master controller for communicating and controlling each circuit in front housing sensor main control module.
3. being used for the obstacle avoidance system of Vending Machine as claimed in claim 2, which is characterized in that the ultrasonic transceiver circuit
It is made of at least three independent ultrasonic wave transmittings and reception circuit, each independent circuits are set to the different direction of system.
4. being used for the obstacle avoidance system of Vending Machine as claimed in claim 2 or claim 3, which is characterized in that the ultrasonic transmission/reception
Each independent circuits include transceiver ultrasonic probe, transmitting-receiving driving circuit and echo signal processing circuit in circuit, wherein
Control processing unit, transmitting-receiving driving circuit, transceiver ultrasonic probe and the connection of echo signal processing circuit closed loop.
5. being used for the obstacle avoidance system of Vending Machine as claimed in claim 4, which is characterized in that the transmitting-receiving driving circuit is used
In the reception of ultrasonic wave transmitting and echo-signal, wherein ultrasonic wave transmitting has the pulse signal detection of setting amplitude and frequency barrier
Hinder object.
6. being used for the obstacle avoidance system of Vending Machine as claimed in claim 4, which is characterized in that the echo signal processing electricity
Road includes primary amplifying circuit, filter circuit, secondary amplification circuit, detection shaping circuit and level shifting circuit, wherein echo
Signal is first filtered after primary amplifying circuit is amplified by filter circuit, carries out secondary put through secondary amplification circuit again thereafter
Greatly, square-wave signal most is obtained through detection shaping circuit afterwards, is converted into switching signal by level shifting circuit.
7. being used for the obstacle avoidance system of Vending Machine as claimed in claim 2, which is characterized in that the CAN Transmit-Receive Unit one
End is connected with control processing unit, and the other end is connected with master controller, for realizing between control processing unit and master controller
Communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822002333.4U CN209542839U (en) | 2018-11-30 | 2018-11-30 | Obstacle avoidance system for Vending Machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822002333.4U CN209542839U (en) | 2018-11-30 | 2018-11-30 | Obstacle avoidance system for Vending Machine |
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| Publication Number | Publication Date |
|---|---|
| CN209542839U true CN209542839U (en) | 2019-10-25 |
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| CN201822002333.4U Active CN209542839U (en) | 2018-11-30 | 2018-11-30 | Obstacle avoidance system for Vending Machine |
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| Country | Link |
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2018
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