CN206057564U - The radar obstacle avoidance system of Vehicular intelligent service robot - Google Patents
The radar obstacle avoidance system of Vehicular intelligent service robot Download PDFInfo
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- CN206057564U CN206057564U CN201620806022.1U CN201620806022U CN206057564U CN 206057564 U CN206057564 U CN 206057564U CN 201620806022 U CN201620806022 U CN 201620806022U CN 206057564 U CN206057564 U CN 206057564U
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- chip microcomputer
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- intervalometer
- obstacle avoidance
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Abstract
This utility model is related to the intelligent barrier avoiding system application of vehicle，Specifically disclose the radar obstacle avoidance system of Vehicular intelligent service robot，Including robot body (1)，Its top surface、Bottom surface、Left surface and right flank are mounted on a ultrasonic transmitter-receiver (2)，Single-chip microcomputer (3) and coupled peripheral circuit are provided with which，Intervalometer (4) is set in single-chip microcomputer (3)，Ultrasonic signal timesharing is corresponded and is conveyed to each ultrasonic transmitter-receiver (2) by single-chip microcomputer (3)，The feedback signal of barrier is corresponded and is conveyed to single-chip microcomputer (3) by ultrasonic transmitter-receiver (2) respectively，When ultrasonic signal is conveyed, intervalometer (4) is opened，When feedback signal is conveyed, intervalometer (4) stops，Time Calculation between unlatching and stopping of the single-chip microcomputer (3) by intervalometer (4) draws the distance of barrier (5) and ultrasonic transmitter-receiver (2).This utility model makes which more rationally effectively carry out avoidance to barrier.
Description
Technical field
This utility model is related to the intelligent barrier avoiding system application of vehicle, more particularly to Vehicular intelligent service robot
Radar obstacle avoidance system.
Background technology
At present, the intelligent barrier avoiding system of vehicle installs photographic head typically by vehicle-surroundings, by image feedback extremely
After control centre, then relative conclusion is drawn by analysis by control centre, and then realize the function of avoidance, then photographic head is past
Toward having blind area, for the image taking in blind area is less than and photographic head easily receives the impact of weather, overlong time shooting
Dust is easily piled up in the front end of head, affects the shooting effect of its image, and then affects the analysis to feedback image, affects vehicle pair
The judgement of barrier.
Utility model content
To overcome disadvantages mentioned above, the purpose of this utility model is to provide the radar avoidance system of Vehicular intelligent service robot
System, has reached the purpose for making which that avoidance is more rationally effectively carried out to barrier.
In order to reach object above, the technical solution adopted in the utility model is：The radar of Vehicular intelligent service robot
Obstacle avoidance system, including robot body, the top surface of the robot body, bottom surface, left surface and right flank are mounted on one
Ultrasonic transmitter-receiver, the peripheral circuit for single-chip microcomputer being provided with the robot body and being connected with the single-chip microcomputer are described
Intervalometer is provided with single-chip microcomputer, the single-chip microcomputer produces several ultrasonic signals, and ultrasonic signal is divided by the single-chip microcomputer
When be conveyed to each described ultrasonic transmitter-receiver correspondingly, the ultrasonic transmitter-receiver is respectively by the feedback letter of barrier
Number be conveyed to the single-chip microcomputer correspondingly, ultrasonic signal when conveying the intervalometer open, feedback signal conveying when institute
Intervalometer stopping is stated, the unlatching and stopping of the intervalometer are acted on a ultrasonic transmitter-receiver one by one, and the single-chip microcomputer leads to
Time Calculation between crossing the unlatching of intervalometer and stopping draws the distance of barrier and ultrasonic transmitter-receiver.By in vehicle machine
The periphery of device people installs multiple ultrasonic transmitter-receivers, opens and stops by its transmission signal and reflected signal and by intervalometer
Time common feedback to single-chip microcomputer, so as to calculate the launch point of ultrasonic transmitter-receiver the distance between to barrier, rationally
Avoidance carried out to barrier effectively, ultrasonic signal has and is easy to that directional transmissions, good directionality, energy expenditure be slow, intensity
It is easy to control, and object being measured do not need the advantage of directly contact, there is no blind area yet, meanwhile, extraneous environment is affected on which
Also it is smaller, realize the effect that vehicle is quickly moved forward.
Further, the detection angle of the ultrasonic transmitter-receiver is more than 20 °.Make its range of application more extensive.
Further, the single-chip microcomputer is 8 single-chip microcomputers, and its model STM8S105, its dominant frequency can reach 24MHZ.8
STM8S105 single-chip microcomputers its be not only STM8S series main flow, be more suitable for the various of industrial, consumer and computer market
Using its performance is more stable.
Further, the single-chip microcomputer produces the ultrasonic signal of 8 40KHZ.Each ultrasonic transmitter-receiver distributes two
Ultrasonic signal, is used alternatingly so as to which the course of work has been ensured.
Further, it is additionally provided with the single-chip microcomputer for amplifying the amplifier of ultrasonic signal.Ultrasound after amplification
Ripple signal makes that its signal intensity is higher, and feedback effectss are more preferable.
Description of the drawings
External structures of the Fig. 1 for the robot body of the present embodiment；
Theory diagrams of the Fig. 2 for the present embodiment.
Wherein：
1- robot bodies；2- ultrasonic transmitter-receivers；3- single-chip microcomputers；4- intervalometers；5- barriers.
Specific embodiment
Below in conjunction with the accompanying drawings preferred embodiment of the present utility model is described in detail, so that advantage of the present utility model
Can be easier to be readily appreciated by one skilled in the art with feature, it is apparent clear and definite so as to make to protection domain of the present utility model
Define.
Referring to shown in accompanying drawing 1-2, the radar obstacle avoidance system of the Vehicular intelligent service robot of the present embodiment, including robot
Body 1, the top surface of robot body 1, bottom surface, left surface and right flank are mounted on a ultrasonic transmitter-receiver 2, robot sheet
The peripheral circuit for being provided with single-chip microcomputer 3 and being connected with single-chip microcomputer 3 in body 1, is provided with intervalometer 4, single-chip microcomputer 3 in single-chip microcomputer 3
For 8 single-chip microcomputers, its model STM8S105, its dominant frequency can reach 24MHZ, and single-chip microcomputer 3 produces several ultrasonic signals, this
In embodiment, single-chip microcomputer 3 produces the ultrasonic signal of 8 40KHZ, and ultrasonic signal timesharing is conveyed by single-chip microcomputer 3 correspondingly
Give each ultrasonic transmitter-receiver 2, after time-sharing work i.e. work, another starts, so that ensure will not during its work
Another impact is received, the feedback signal of barrier is conveyed to single-chip microcomputer 3 by ultrasonic transmitter-receiver 2 respectively correspondingly,
When ultrasonic signal is conveyed, intervalometer 4 is opened, and when feedback signal is conveyed, intervalometer 4 stops, and the unlatching and stopping of intervalometer 4 are one by one
Act on a ultrasonic transmitter-receiver 2, the Time Calculation between unlatching and stopping of the single-chip microcomputer 3 by intervalometer 4 draws barrier
Hinder the distance of thing 5 and ultrasonic transmitter-receiver 2, the detection angle of ultrasonic transmitter-receiver 2 more than 20 °, can -35 DEG C -85 DEG C it
Between normal work, be additionally provided with single-chip microcomputer 3 for amplifying the amplifier of ultrasonic signal.
The ultrasonic signal of 8 40KHZ produced by single-chip microcomputer 3 is conveyed to ultrasonic transmission/reception after the amplification of amplifier
Device 2, now, 3 control timer of single-chip microcomputer 4 opens timing, and when ultrasonic signal runs into barrier 5, ultrasonic signal is returned
Return, the signal of return is received by ultrasonic transmitter-receiver 2, now, the intervalometer 4 that single-chip microcomputer 3 is controlled in which stops timing immediately, leads to
Cross the calculating of single-chip microcomputer 3, it is possible to obtain the distance of barrier and ultrasonic transmitter-receiver 2, realize avoidance.
Embodiment of above only to illustrate technology design of the present utility model and feature, its object is to allow and be familiar with this skill
The people of art understands content of the present utility model and is simultaneously carried out, and can not limit protection domain of the present utility model with this, all
The equivalence changes done according to this utility model spirit or modification, should all cover in protection domain of the present utility model.
Claims (5)
1. the radar obstacle avoidance system of Vehicular intelligent service robot, including robot body (1), it is characterised in that：The machine
The top surface of human body (1), bottom surface, left surface and right flank are mounted on a ultrasonic transmitter-receiver (2), the robot body
(1) it is fixed to be provided with the peripheral circuit for being provided with single-chip microcomputer (3) and being connected with the single-chip microcomputer (3) in, the single-chip microcomputer (3)
When device (4), the single-chip microcomputer (3) produces several ultrasonic signals, and the single-chip microcomputer (3) is by one a pair of ultrasonic signal timesharing
That what is answered is conveyed to each described ultrasonic transmitter-receiver (2), and the ultrasonic transmitter-receiver (2) is respectively by the feedback signal of barrier
The single-chip microcomputer (3), ultrasonic signal intervalometer (4) unlatching, feedback signal conveying when conveying are conveyed to correspondingly
Shi Suoshu intervalometers (4) stop, and the unlatching and stopping of the intervalometer (4) are acted on a ultrasonic transmitter-receiver (2) one by one,
Time Calculation between unlatching and stopping of the single-chip microcomputer (3) by intervalometer (4) draws barrier (5) and ultrasonic transmission/reception
The distance of device (2).
2. the radar obstacle avoidance system of Vehicular intelligent service robot according to claim 1, it is characterised in that：The ultrasound
The detection angle of ripple transceiver (2) is more than 20 °.
3. the radar obstacle avoidance system of Vehicular intelligent service robot according to claim 1, it is characterised in that：The monolithic
Machine (3) is 8 single-chip microcomputers, and its model STM8S105, its dominant frequency can reach 24MHZ.
4. the radar obstacle avoidance system of Vehicular intelligent service robot according to claim 1, it is characterised in that：The monolithic
Machine (3) produces the ultrasonic signal of 8 40KHZ.
5. the radar obstacle avoidance system of Vehicular intelligent service robot according to claim 1, it is characterised in that：The monolithic
It is additionally provided with machine (3) for amplifying the amplifier of ultrasonic signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620806022.1U CN206057564U (en) | 2016-07-28 | 2016-07-28 | The radar obstacle avoidance system of Vehicular intelligent service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620806022.1U CN206057564U (en) | 2016-07-28 | 2016-07-28 | The radar obstacle avoidance system of Vehicular intelligent service robot |
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| Publication Number | Publication Date |
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| CN206057564U true CN206057564U (en) | 2017-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620806022.1U Active CN206057564U (en) | 2016-07-28 | 2016-07-28 | The radar obstacle avoidance system of Vehicular intelligent service robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105974422A (en) * | 2016-07-28 | 2016-09-28 | 杭州哈帝机器人科技有限公司 | Vehicle intelligent service robot radar obstacle avoidance system |
| CN107121985A (en) * | 2017-04-27 | 2017-09-01 | 苏州欸欸智能科技有限公司 | A kind of radar obstacle avoidance system of underwater intelligent robot |
-
2016
- 2016-07-28 CN CN201620806022.1U patent/CN206057564U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105974422A (en) * | 2016-07-28 | 2016-09-28 | 杭州哈帝机器人科技有限公司 | Vehicle intelligent service robot radar obstacle avoidance system |
| CN107121985A (en) * | 2017-04-27 | 2017-09-01 | 苏州欸欸智能科技有限公司 | A kind of radar obstacle avoidance system of underwater intelligent robot |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190521 Address after: 310006 No. 91 Baijingfang Lane, Xiacheng District, Hangzhou City, Zhejiang Province Patentee after: Xu Rongliang Address before: Room 1605, Building 1 (Area B) of World Trade Lijing City Euro-American Center, West Lake District, Hangzhou City, Zhejiang 310000 Patentee before: HANGZHOU HADI ROBOT TECHNOLOGY CO., LTD. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190801 Address after: 315832 G2270, Room 401 A, Building 88, Qixing Road, Meishan, Beilun District, Ningbo City, Zhejiang Province Patentee after: Ningbo Mengliang Chen Zhen Investment Management Partnership (Limited Partnership) Address before: 310006 No. 91 Baijingfang Lane, Xiacheng District, Hangzhou City, Zhejiang Province Patentee before: Xu Rongliang |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191203 Address after: Room Z-30, No. 96, Sanhao Street, Heping District, Shenyang, Liaoning Patentee after: Liaoning SongGe Technology Co., Ltd Address before: 315832 G2270, Room 401 A, Building 88, Qixing Road, Meishan, Beilun District, Ningbo City, Zhejiang Province Patentee before: Ningbo Mengliang Chen Zhen Investment Management Partnership (Limited Partnership) |
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| TR01 | Transfer of patent right |