CN106646516A - A robot that uses infrared ranging combined with high-speed stepping motors to realize near-field scanning - Google Patents

Abstract

The invention discloses a robot for realizing near-field scanning by combining infrared distance measurement with a high-speed stepping motor, which is characterized in that: the top of the robot is provided with a high-speed stepping motor, an infrared distance measuring probe is fixed on a shaft of the high-speed stepping motor, and three conductive cylinders which are isolated from each other are arranged on the shaft of the high-speed stepping motor; the three conductive cylinders are respectively communicated with a power supply, a signal and the ground through three corresponding contact elastic sheets beside; the high-speed stepping motor drives the infrared probe to rotate at a speed of more than 5 revolutions per second, the single chip microcomputer collects a signal AD of the infrared distance measuring probe through an analog-to-digital conversion input end every N degrees, and then a distance value is calculated; every time the device rotates for one circle, 360/N distance values can be obtained to serve as frame data, namely information of the surrounding environment is obtained, and environment modeling with certain precision can be carried out. The invention has the advantages of realizing the measurement of the shape and the position of the close-range obstacle, and being particularly suitable for obstacle avoidance and environment modeling of the dead zone of the depth sensor.

Description

A robot that uses infrared ranging combined with high-speed stepping motors to realize near-field scanning

technical field

The invention relates to a robot, in particular to a robot that uses infrared distance measurement combined with a high-speed stepping motor to realize near-field scanning.

Background technique

The ultrasonic ranging of known robots can only sense obstacles within the range of the beam, but cannot determine the size and position of obstacles; infrared ranging can measure the distance of obstacles on a straight line, but can only measure one point; the depth sensor can measure The shape and position of the obstacle, but the cost is very high, and because it is a cone-shaped field of view, limited by its ranging principle, there is a large blind area in the near field.

Contents of the invention

In order to overcome the above shortcomings, the present invention provides a robot that uses infrared distance measurement combined with high-speed stepping motors to realize near-field scanning.

The technical scheme that the present invention adopts for realizing the above object is:

A robot that uses infrared ranging and high-speed stepping motors to realize near-field scanning is characterized by:

A high-speed stepping motor is installed on the top of the robot, an infrared distance measuring probe is fixed on the shaft of the high-speed stepping motor, and three conductive cylinders isolated from each other are installed on the shaft of the high-speed stepping motor. The terminals are power supply, signal, and ground respectively; the three conductive cylinders are respectively connected to the power supply, signal, and ground through the corresponding three contact shrapnels on the side; the high-speed stepping motor drives the infrared probe at a speed of more than 5 revolutions per second under the control of the single-chip microcomputer Rotate in the same direction at a constant speed, every N (N<10) degrees, the single-chip computer collects the signal of the infrared ranging probe through the analog-to-digital conversion input terminal, and then calculates the distance value; for each rotation, 360/N distance values can be obtained As a frame of data, that is, the information of the surrounding environment is obtained, and environmental modeling with a certain accuracy can be performed.

The invention has the beneficial effect of realizing the shape and position measurement of short-distance obstacles, and is especially suitable for obstacle avoidance and environment modeling in blind areas of depth sensors.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and implementation. Fig. 1 is a schematic diagram of the present invention, Fig. 2 is a functional block diagram of the present invention, and Fig. 3 is a schematic diagram of a frame detection.

In the figure, 1 is an infrared distance measuring probe, 2 is a contact shrapnel, 3 is a high-speed stepping motor, 4 is an internal wiring, 5 is a conductive cylinder, 6 is an insulating bracket, 7 is a single-chip microcomputer, 8 is a driving circuit, and 9 is a signal AD, 10 is an obstacle.

detailed description

In Figure 1, a robot that uses infrared ranging combined with high-speed stepping motors to realize near-field scanning is characterized by:

A high-speed stepping motor 3 is installed on the top of the robot, an infrared ranging probe 1 is fixed on the shaft of the high-speed stepping motor 3, and three mutually isolated conductive cylinders 5 are housed on the shaft of the high-speed stepping motor 3. The terminals corresponding to the conductive cylinder 5 are power supply +5V, signal AD, and ground GND; the three conductive cylinders 5 are respectively connected to the power supply +5V, signal AD, and ground GND through the corresponding three contact shrapnels 8 on the side; the high-speed stepping motor 3 Under the control of the single-chip microcomputer 7, the infrared ranging probe 1 is driven to rotate in the same direction at a speed of more than 5 revolutions per second, and the signal AD of the infrared ranging probe 1 is collected every 5 degrees to obtain its distance value; Rotating one circle, you can get 360/5=72 distance values as a frame of data, that is, to obtain the information of the surrounding environment, and to perform environment modeling with a certain accuracy.

In Fig. 2, the single-chip microcomputer 7 outputs pulse width modulated PWM pulses, drives the high-speed stepping motor 3 to rotate at a constant speed through the drive circuit 8, and drives the infrared distance measuring probe 1 to rotate in the same direction at a constant speed, and the single-chip microcomputer 7 passes through the modulus every 5 degrees. The conversion input terminal collects the signal AD9 of the infrared ranging probe 1, and then calculates the distance value.

In FIG. 3 there are four different obstacles 10 .

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any form. Any simple modification, equivalent Changes and modifications all still belong to the scope of the technical solution of the present invention.

Claims (1)

1. the robot of near-field scan is realized with reference to high-speed stepper motor using infrared distance measurement, be it is characterized in that：The robot Top is provided with a high-speed stepper motor, an infrared distance measurement probe is fixed with the axle of high-speed stepper motor, while at a high speed The conducting circular cylinder being mutually isolated at three is housed, the corresponding terminal of conducting circular cylinder is respectively power supply, letter at three on the axle of stepper motor Number,；At three conducting circular cylinder by contact flat spring at side corresponding three be respectively communicated with power supply, signal,；High-speed stepper motor Under the control of single-chip microcomputer, infrared probe is driven at the uniform velocity to rotate towards same direction with more than 5 turns per second of speed, every N (N< 10) spend single-chip microcomputer is used for environmental modeling by the signal that analog-to-digital conversion input gathers infrared distance measurement probe.