CN201444200U - Object detector for mobile robot - Google Patents
Object detector for mobile robot Download PDFInfo
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- CN201444200U CN201444200U CN2009200294279U CN200920029427U CN201444200U CN 201444200 U CN201444200 U CN 201444200U CN 2009200294279 U CN2009200294279 U CN 2009200294279U CN 200920029427 U CN200920029427 U CN 200920029427U CN 201444200 U CN201444200 U CN 201444200U
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- mobile robot
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- ultrasonic transmission
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- 238000001914 filtration Methods 0.000 claims abstract description 8
- 238000000605 extraction Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 claims description 11
- 238000002604 ultrasonography Methods 0.000 claims description 8
- 238000007493 shaping process Methods 0.000 claims description 3
- 230000003750 conditioning effect Effects 0.000 abstract 3
- 230000003321 amplification Effects 0.000 abstract 1
- 230000001143 conditioned effect Effects 0.000 abstract 1
- 238000003199 nucleic acid amplification method Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 206010049669 Dyscalculia Diseases 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model discloses an object detector for mobile robot, which comprises an ultrasonic transceiving sensor, an analog signal conditioning circuit, a central control unit and a power drive circuit, wherein the ultrasonic transceiving sensor is used for transmitting ultrasonic wave and detecting the return signals, and converting the returned signals into analog signals if the return signals exist; the analog signal conditioning circuit is used for conducting amplification, wave filtration, peak extraction and reshaping on the analog signals; the central control unit is used for conducting digital wave filtration on the signals conditioned by the analog signal conditioning circuit, calculating the distance between the mobile robot and the object in front, comparing the obtained value with a set value and giving an alarm if the obtained value is less than the set value; and the power drive circuit is used for driving the ultrasonic transceiving sensor to emit ultrasonic wave with corresponding length. The object detector for mobile robot can effectively detect the object and the distance between the object and the robot, and covers the area needing to be detected, wherein the robot walks on the area.
Description
(1) technical field
The utility model relates to a kind of mobile robot's obstacle avoidance apparatus, belongs to the robot navigation field, obtains navigation information accurately by it, to evade barrier and reliability service.
(2) background technology
For the mobile robot is reliably exercised, can not bump with the barrier on its travel route, need the device of a kind of detection machine people the place ahead barrier.No. 200510015896 patent of invention of China Intellectual Property Office discloses a kind of photoelectricity obstacle avoidance apparatus, for autonomous mobile robot provides navigation and barrier avoiding function.Obstacle detector based on optoelectronic device is the obstacle avoidance apparatus that generally adopts at present, but photoelectric sensor has its intrinsic defective, and the one photoelectric sensor is subjected to such environmental effects big, and especially extraneous light is unsuitable for using in outdoor sunshine environment.On the other hand, the photoelectric sensor high directivity can only cover the zone of point-like, often need to lay a plurality of photoelectric sensors and constitute the detection matrix, system cost improves greatly, even and if constitute the detection matrix, also be difficult to cover the zone that robot ambulation need detect.
(3) summary of the invention
Therefore, the purpose of this utility model is to provide a kind of can detect the existence and the distance of barrier effectively at mobile robot's obstacle avoidance apparatus of outdoor application, covers the zone that robot ambulation need detect.
In order to realize goal of the invention of the present utility model, according to the technical solution of the utility model, the mobile robot obstacle avoidance apparatus that has adopted, it comprises:
Ultrasonic transmission/reception one body sensor is used to launch ultrasound wave and detects return signal, during if any return signal, is translated into simulating signal;
The analog signal conditioner circuit, be used for above-mentioned simulating signal amplify, filtering, peak extraction, shaping;
Central control unit, the signal that the analog signal conditioner circuit was nursed one's health carries out digital filtering, calculates the distance of the place ahead barrier, and compares with setting value, if less than setting value, broadcasts warning; And
Power driving circuit is used to drive the ultrasound wave of described ultrasonic transmission/reception one sensor emission respective wavelength.
Based on the technical solution of the utility model, adopt location, the range finding device of ultrasonic transmission/reception one body sensor as barrier, antijamming capability is strong, and acoustic signals is not subjected to the influence of external environment factors such as light, temperature, is applicable in outdoor application.On the other hand, the sound wave that ultrasonic transmission/reception one body sensor sends is coniform radiation propagation, and active area is big, and the single-sensor overlay area is big, and therefore, its overlay area is far longer than the overlay area of existing photoelectric sensor, and accuracy is higher.
In addition, because single ultrasonic transmission/reception one body sensor zone of action area is big, just set under the area surveyed area situation at needs, needed number of sensors is few, and system cost reduces.
Above-mentioned mobile robot's obstacle avoidance apparatus, described central control unit input terminal also is connected to the toggle switch that is used to set described setting value.
Described ultrasonic transmission/reception one body sensor is provided with more than one, when more than one, is installed on different parts with the center symmetrical distribution or according to demand.
(4) description of drawings
Below in conjunction with Figure of description the technical solution of the utility model is further described, makes those skilled in the art better understand the utility model, wherein:
Fig. 1 is the theory diagram of the utility model mobile robot obstacle avoidance apparatus embodiment.
Fig. 2 keeps away the barrier process flow diagram for ultrasound wave.
Among the figure: 1, ultrasonic transmission/reception one body sensor.
(5) embodiment
Below the utility model is made exemplary illustration.
With reference to the attached Fig. 1 and 2 of explanation, present embodiment mobile robot obstacle avoidance apparatus, it comprises:
Ultrasonic transmission/reception one body sensor 1 is used to launch ultrasound wave and detects return signal, during if any return signal, is translated into simulating signal;
The analog signal conditioner circuit, be used for above-mentioned simulating signal amplify, filtering, peak extraction, shaping;
Central control unit, the signal that the analog signal conditioner circuit was nursed one's health carries out digital filtering, calculates the distance of the place ahead barrier, and compares with setting value, if less than setting value, broadcasts warning; And
Power driving circuit is used to drive the ultrasound wave of described ultrasonic transmission/reception one sensor emission respective wavelength.
For the ease of the setting of above-mentioned setting value, described central control unit input terminal also is connected to the toggle switch that is used to set described setting value.
In order to obtain bigger detection faces, described ultrasonic transmission/reception one body sensor is provided with more than one, when required detection faces hour, can adopt one, if the detection faces area is bigger, need be provided with a plurality of, and when the time more than one, be installed on different parts with the center symmetrical distribution or according to demand, obtain maximum detection faces with less input.
Referring to Figure of description 2, in the use, ultrasonic transmission/reception one body sensor continues the emission ultrasound wave, and detects the signal that feeds back in real time, if the feedback signal of detecting, show that then there is barrier the front, the distance of dyscalculia thing compares said distance and setting value simultaneously, and said setting value is alarm limit, if less than revaluate, then carry out output alarm.
Claims (3)
1. mobile robot's obstacle avoidance apparatus is characterized in that it comprises:
Ultrasonic transmission/reception one body sensor (1) is used to launch ultrasound wave and detects return signal, during if any return signal, is translated into simulating signal;
The analog signal conditioner circuit, be used for above-mentioned simulating signal amplify, filtering, peak extraction, shaping;
Central control unit, the signal that the analog signal conditioner circuit was nursed one's health carries out digital filtering, calculates the distance of the place ahead barrier, and compares with setting value, if less than setting value, broadcasts warning; And
Power driving circuit is used to drive the ultrasound wave of described ultrasonic transmission/reception one sensor emission respective wavelength.
2. mobile robot's obstacle avoidance apparatus according to claim 1 is characterized in that: described central control unit input terminal also is connected to the toggle switch that is used to set described setting value.
3. mobile robot's obstacle avoidance apparatus according to claim 1 is characterized in that: described ultrasonic transmission/reception one body sensor is provided with more than one, when more than one, is symmetrically distributed with the center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200294279U CN201444200U (en) | 2009-07-14 | 2009-07-14 | Object detector for mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200294279U CN201444200U (en) | 2009-07-14 | 2009-07-14 | Object detector for mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201444200U true CN201444200U (en) | 2010-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009200294279U Expired - Lifetime CN201444200U (en) | 2009-07-14 | 2009-07-14 | Object detector for mobile robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101984382A (en) * | 2010-10-15 | 2011-03-09 | 重庆市电力公司超高压局 | Method for intelligently inspection substation equipment by using robot |
| CN103529450A (en) * | 2013-10-21 | 2014-01-22 | 深圳市米克力美科技有限公司 | Barrier detection method and device thereof for automatic guided vehicle |
| TWI640750B (en) * | 2017-11-23 | 2018-11-11 | 智棋科技股份有限公司 | Robot system and method for controlling robot |
-
2009
- 2009-07-14 CN CN2009200294279U patent/CN201444200U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101984382A (en) * | 2010-10-15 | 2011-03-09 | 重庆市电力公司超高压局 | Method for intelligently inspection substation equipment by using robot |
| CN101984382B (en) * | 2010-10-15 | 2014-06-18 | 重庆市电力公司检修分公司 | Method for intelligently inspection substation equipment by using robot |
| CN103529450A (en) * | 2013-10-21 | 2014-01-22 | 深圳市米克力美科技有限公司 | Barrier detection method and device thereof for automatic guided vehicle |
| TWI640750B (en) * | 2017-11-23 | 2018-11-11 | 智棋科技股份有限公司 | Robot system and method for controlling robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20100428 |