CN103970059A - Bionic Robot Animal Sensing Circuit - Google Patents

Abstract

The invention belongs to the technical field of robot control circuits, specifically a bionic robot animal sensing circuit; the technical problem to be solved is: to provide a bionic robot animal sensing circuit capable of sensing human body or animal signals and having a distance displacement sensing function; The technical solution adopted is: a bionic robot animal sensing circuit, including: a main controller module, an infrared sensing module, an ultrasonic transmitting module, an ultrasonic receiving module, a clock module, a storage module, a reset control module and a power supply module, the main The controller module is respectively connected with the infrared sensing module, the ultrasonic transmitting module, the ultrasonic receiving module, the clock module, the storage module and the reset control module, and the power supply module supplies power for the whole circuit. The invention is applicable to the field of robots.

Description

Bionic Robot Animal Sensing Circuit

technical field

The invention belongs to the technical field of robot control circuits, in particular to a bionic robot animal sensing circuit.

Background technique

A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, and act according to principles formulated by artificial intelligence technology. Its task is to assist or replace human work, such as manufacturing, construction, or hazardous work.

Most of the existing robots are essentially machines that can walk and speak. Most of them do not have the physical perception ability of "humans", do not have the perception function of animals or human bodies, and cannot independently judge the quality of humans or animals. Approaching and judging the size and position of the object has poor interactivity.

Contents of the invention

The invention overcomes the shortcomings of the prior art, and the technical problem to be solved is: to provide a bionic robot animal sensing circuit capable of sensing animal signals and having a distance displacement sensing function.

The present invention is realized by adopting the following technical solutions:

A bionic robot animal sensing circuit includes: a main controller module, an infrared sensing module, an ultrasonic transmitting module, an ultrasonic receiving module, a clock module, a storage module, a reset control module and a power supply module.

The main controller module is respectively connected with the infrared sensing module, the ultrasonic transmitting module, the ultrasonic receiving module, the clock module, the storage module and the reset control module, and the power supply module supplies power for the whole circuit.

The circuit structure of the infrared sensing module is as follows: comprising an infrared detection sensor IC1, the positive pole of the power supply end of the infrared detection sensor IC1 is connected to one end of the resistor R1 and then connected to the positive pole of the power supply VCC, and the other end of the resistor R1 is connected to the resistor R2 in parallel One end of the capacitor C1 is connected to the collector of the NPN transistor Q1, the signal output end of the infrared detection sensor IC1 is connected in parallel to one end of the resistor R3 and then connected to one end of the capacitor C2, and the other end of the resistor R2 is connected in parallel The other end of the capacitor C2 is connected to the base of the NPN transistor Q1, and the negative electrode of the power supply end of the infrared detection sensor IC1 is connected to the other end of the resistor R3 and the emitter of the NPN transistor Q1 to be grounded.

The other end of the capacitor C1 is connected in series with the positive input end of the operational amplifier IC2 after the resistor R4 is connected in series, and the negative input end of the operational amplifier IC2 is connected in parallel with one end of the resistor R5 and one end of the capacitor C3 and then connected with one end of the resistor R6. The other end of the resistor R5 is connected in series with the capacitor C4 and then grounded, the other end of the capacitor C3 is connected in parallel with the other end of the resistor R6 and then connected to the output end of the operational amplifier IC2, and the output end of the operational amplifier IC2 is connected to the main controller The signal input port of the module is connected.

Described infrared detection sensor IC1 can adopt the infrared sensor that model is Q74; Described operational amplifier IC2 adopts the operational amplifier chip that model is LM358, when described infrared detection sensor IC1 detects the infrared signal that front human body or animal body radiates, by The signal output terminal of the infrared detection sensor IC1 outputs a weak electrical signal, which is amplified by the first-stage amplifying circuit composed of the NPN transistor Q1, and then input to the operational amplifier IC2 through the capacitor C1 for high-gain, low-noise amplification. At this time, the operational amplifier The signal output by IC2 is strong enough, and finally the amplified signal is sent to the main controller module 1, and the main controller module 1 converts the above-mentioned signal into a corresponding electrical signal through an analog-to-digital conversion module.

The circuit structure of the ultrasonic transmitting module is as follows: comprising a time-base integrated circuit chip IC3, the 7 pins of the time-base integrated circuit chip IC3 are connected in parallel with one end of the resistor R7 and a fixed end of the adjustable resistor R8 with the adjustable resistor R8 The other end of the resistor R7 is connected in parallel with pin 2 of the time-base integrated circuit chip IC3 and pin 6 of the time-base integrated circuit chip IC3, and then connected to one end of the capacitor C5, and the other end of the capacitor C5 is grounded. The 8 pins of the time base integrated circuit chip IC3 are connected in parallel with the other fixed end of the adjustable resistor R8 and then connected to the positive pole VCC of the power supply, the 5 pins of the time base integrated circuit chip IC3 are connected in series with the capacitor C6 and then grounded, the time base integrated circuit chip Pin 4 of IC3 is connected to the signal output port of the main controller module, pin 1 of the time-base integrated circuit chip IC3 is grounded, pin 3 of the time-base integrated circuit chip IC3 is connected in series with resistor R9, and then connected to pin 1 of the six-inverter IC4 .

The 9 pins of the six inverter IC4 are parallel connected with the 11 pins of the six inverter IC4 and connected with the 1 pin of the six inverter IC4, the 2 pins of the six inverter IC4, the 3 pins of the six inverter IC4, The 5 pins of the six inverter IC4 are connected in parallel, the 8 pins of the six inverter IC4 are connected in parallel with the 10 pins of the six inverter IC4, and then connected to one end of the capacitor C7, and the other end of the capacitor C7 is connected to the ultrasonic transducer One input end of S1 is connected, and pin 4 of the six-inverter IC4 is connected in parallel with pin 6 of the six-inverter IC4, and then connected to the other input end of the ultrasonic transducer S1.

The circuit structure of the ultrasonic receiving module is as follows: comprising a sound wave transducer S2, one output end of the sound wave transducer S2 is connected in parallel with one end of the resistor R10 and connected with one end of the capacitor C8, and the other end of the ultrasonic wave transducer S2 The output end is connected in parallel with the other end of the resistor R10 and then grounded, and the other end of the capacitor C8 is connected in series with the resistor R11 and connected to pin 2 of the dual operational amplifier IC5.

The 2 pins of the dual operational amplifier IC5 are connected in series with the resistor R12 and connected with the 1 pin of the dual operational amplifier IC5, and the 1 pin of the dual operational amplifier IC5 is connected with the 6 pins of the dual operational amplifier IC5 after the capacitor C9 and the resistor R13 are connected in series successively. The 6 pins of the dual operational amplifier IC5 are connected in series with the resistor R14 and connected with the 7 pins of the dual operational amplifier IC5, and the 3 pins of the dual operational amplifier IC5 are connected in parallel with one end of the capacitor C10, one end of the resistor R15 and one end of the resistor R16, and then connected with the dual operational amplifier Pin 5 of IC5 is connected, the other end of the capacitor C10 and the other end of the resistor R15 are both grounded, and the other end of the resistor R16 is connected to the positive pole VCC of the power supply.

Pin 7 of the dual operational amplifier IC5 is connected to the positive input terminal of the voltage comparator IC6; the negative input terminal of the voltage comparator IC6 is connected to the ground after a resistor R17 is connected in series, and the negative input terminal of the voltage comparator IC6 is connected to the power supply after the resistor R18 is connected in series. The positive pole is connected to VCC, and the output terminal of the voltage comparator IC6 is connected to the signal input port of the main controller module.

Described time base integrated circuit chip IC3 can adopt the chip that model is NE555, and described six inverter IC4 can adopt the chip that model is CD4049, and described dual operational amplifier IC5 can adopt the dual operational amplifier that model is TL082, and described voltage The comparator IC6 can adopt the voltage comparator chip whose model is LM311.

The above-mentioned time-base integrated circuit chip IC3 constitutes an astable multivibrator, and its oscillation frequency is determined by the adjustable resistor R8, resistor R7 and capacitor C5. By adjusting the adjustable resistor R8, the oscillation frequency can be changed, and the output oscillation signal is passed through six inversion phases. The amplification of the device IC4 drives the ultrasonic transducer S1 to sound, and the 4 pins of the time-based integrated circuit chip IC3 are controlled by the main controller module 1. The weak signal is amplified by AC coupling to the dual operational amplifier IC5, and the amplified signal is reshaped by the voltage comparator IC6. The main controller module can judge the size, shape, trajectory and speed of the object by receiving the change of the signal in the module 4 .

The above-mentioned main controller module, clock module, storage module, reset control module and power module can all adopt existing known products.

There are multiple infrared sensing modules, ultrasonic transmitting modules and ultrasonic receiving modules, and the ultrasonic transmitting modules and ultrasonic receiving modules are arranged in pairs.

When working, the bionic robot can detect the surrounding animals through the infrared sensing module, and at the same time rely on the ultrasonic transmitting module and the ultrasonic receiving module to judge the specific position and shape of the surrounding animals, including: height (size), position, movement speed, etc., making the bionic robot It has the perception ability of "human" and improves the "feeling" function of the bionic robot; there are multiple infrared sensing modules, ultrasonic transmitting modules and ultrasonic receiving modules, and the ultrasonic transmitting modules and ultrasonic receiving modules are arranged in pairs. It can detect the position, size and moving speed of surrounding objects in all directions and from multiple angles.

Compared with the prior art, the present invention has the beneficial effects that: the bionic robot in the present invention can detect the surrounding animals through the infrared sensing module, and at the same time rely on the ultrasonic transmitting module and the ultrasonic receiving module to judge the specific position and shape of the person or animal, so that The bionic robot has the perception ability of "human", which improves the "feeling" function of the bionic robot; the sensing modules in the present invention all adopt low-voltage and low-power DC circuits, and the energy consumption is low, which can meet the needs of various types of bionic robots. Use, strong practicability.

Description of drawings

Fig. 1 is a schematic diagram of the circuit structure of the present invention.

Fig. 2 is a schematic diagram of the circuit structure of the infrared sensing module of the present invention.

Fig. 3 is a schematic diagram of the circuit structure of the ultrasonic transmitting module in the present invention.

Fig. 4 is a schematic diagram of the circuit structure of the ultrasonic receiving module in the present invention.

In the figure: In the figure: 1-main controller module, 2-infrared sensor module, 3-ultrasonic transmitting module, 4-ultrasonic receiving module, 5-clock module, 6-storage module, 7-reset control module, 8-power supply module.

Detailed ways

Below in conjunction with accompanying drawing, the present invention is described in further detail:

As shown in Figure 1, a bionic robot animal sensing circuit includes: a main controller module 1, an infrared sensing module 2, an ultrasonic transmitting module 3, an ultrasonic receiving module 4, a clock module 5, a storage module 6, and a reset control module 7 and power module 8.

The main controller module 1 is respectively connected with the infrared sensing module 2, the ultrasonic transmitting module 3, the ultrasonic receiving module 4, the clock module 5, the storage module 6 and the reset control module 7, and the power supply module 8 supplies power for the whole circuit.

As shown in Figure 2, the circuit structure of the infrared sensing module 2 is as follows: the positive pole of the power supply end of the infrared detection sensor IC1 is connected in parallel with one end of the resistor R1 and then connected with the positive pole VCC of the power supply, and the other end of the resistor R1 is connected in parallel with that of the resistor R2 One end and one end of the capacitor C1 are connected to the collector of the NPN transistor Q1, the signal output end of the infrared detection sensor IC1 is connected in parallel with one end of the resistor R3 and then connected with one end of the capacitor C2, and the other end of the resistor R2 is connected in parallel The other end of the capacitor C2 is connected to the base of the NPN transistor Q1, and the negative electrode of the power supply end of the infrared detection sensor IC1 is connected in parallel to the other end of the resistor R3 and the emitter of the NPN transistor Q1, and then grounded.

The other end of the capacitor C1 is connected in series with the positive input end of the operational amplifier IC2 after the resistor R4 is connected in series, and the negative input end of the operational amplifier IC2 is connected in parallel with one end of the resistor R5 and one end of the capacitor C3 and then connected with one end of the resistor R6. The other end of the resistor R5 is connected in series with the capacitor C4 and then grounded, the other end of the capacitor C3 is connected in parallel with the other end of the resistor R6 and then connected to the output end of the operational amplifier IC2, and the output end of the operational amplifier IC2 is connected to the main controller The signal input port of module 1 is connected.

As shown in Figure 3, the circuit structure of described ultrasonic emission module 3 is: the 7 pins of time base integrated circuit chip IC3 are connected in parallel with one end of resistor R7 and a fixed end of adjustable resistor R8 and the movable end of adjustable resistor R8 connected, the other end of the resistor R7 is connected in parallel with pin 2 of the time-base integrated circuit chip IC3 and pin 6 of the time-base integrated circuit chip IC3, and then connected with one end of the capacitor C5, and the other end of the capacitor C5 is grounded; The 8 pins of the base integrated circuit chip IC3 are connected in parallel with the other fixed end of the adjustable resistor R8 and then connected to the positive pole VCC of the power supply. The 5 pins of the time base integrated circuit chip IC3 are connected in series with the capacitor C6 and then grounded. The pin is connected with the signal output port of the main controller module 1, the pin 1 of the time base integrated circuit chip IC3 is grounded, and the pin 3 of the time base integrated circuit chip IC3 is connected in series with the resistor R9 and connected with the pin 1 of the six-inverter IC4.

The 9 pins of the six inverter IC4 are parallel connected with the 11 pins of the six inverter IC4 and connected with the 1 pin of the six inverter IC4, the 2 pins of the six inverter IC4, the 3 pins of the six inverter IC4, The 5 pins of the six inverter IC4 are connected in parallel, the 8 pins of the six inverter IC4 are connected in parallel with the 10 pins of the six inverter IC4, and then connected to one end of the capacitor C7, and the other end of the capacitor C7 is connected to the ultrasonic transducer One input end of S1 is connected, and pin 4 of the six-inverter IC4 is connected in parallel with pin 6 of the six-inverter IC4, and then connected to the other input end of the ultrasonic transducer S1.

As shown in Figure 4, the circuit structure of described ultrasonic wave receiving module 4 is: an output end of sound wave transducer S2 is connected with an end of electric capacity C8 after connecting with one end of resistance R10 in parallel, the other output end of ultrasonic wave transducer S2 The other end of the resistor R10 is connected in parallel and grounded, and the other end of the capacitor C8 is connected in series with the resistor R11 and connected to pin 2 of the dual operational amplifier IC5.

The 2 pins of the dual operational amplifier IC5 are connected in series with the resistor R12 and connected with the 1 pin of the dual operational amplifier IC5, and the 1 pin of the dual operational amplifier IC5 is connected with the 6 pins of the dual operational amplifier IC5 after the capacitor C9 and the resistor R13 are connected in series successively. The 6 pins of the dual operational amplifier IC5 are connected in series with the resistor R14 and connected with the 7 pins of the dual operational amplifier IC5, and the 3 pins of the dual operational amplifier IC5 are connected in parallel with one end of the capacitor C10, one end of the resistor R15 and one end of the resistor R16, and then connected with the dual operational amplifier Pin 5 of IC5 is connected, the other end of the capacitor C10 and the other end of the resistor R15 are both grounded, and the other end of the resistor R16 is connected to the positive pole VCC of the power supply.

The 7 pins of the double operational amplifier IC5 are connected with the positive input terminal of the voltage comparator IC6; the negative input terminal of the voltage comparator IC6 is grounded after the resistor R17 is connected in series, and the negative input terminal of the voltage comparator IC6 is connected with the power supply after the resistor R18 is connected in series The positive pole is connected to VCC, and the output terminal of the voltage comparator IC6 is connected to the signal input port of the main controller module 1 .

During specific implementation, the infrared detection sensor IC1 adopts an infrared sensor of model Q74; the operational amplifier IC2 adopts an operational amplifier chip of model LM358.

The time-base integrated circuit chip IC3 is a chip with a model number of NE555, and the six-inverter IC4 is a chip with a model number of CD4049.

The dual operational amplifier IC5 adopts a dual operational amplifier model TL082, and the voltage comparator IC6 adopts a voltage comparator chip model LM311.

The above-mentioned main controller module 1, clock module 5, storage module 6, reset control module 7 and power module 8 can all be purchased directly.

The positive VCC of the above-mentioned power supply can use a DC power supply below +36V. In this specific embodiment, a +12V power supply is used. The above-mentioned components are low-voltage and low-power DC components with low energy consumption and can well adapt to the existing power supply of the robot. Short board problem, can meet the use of various types of bionic robots, and has strong practicability.

Claims (3)

1. a bio-robot animal sensing circuit, is characterized in that: main controller module (1), infrared induction module (2), ultrasound wave transmitter module (3), ultrasound wave receiver module (4), clock module (5), memory module (6), reset control module (7) and power module (8);

Described main controller module (1) is connected with infrared induction module (2), ultrasound wave transmitter module (3), ultrasound wave receiver module (4), clock module (5), memory module (6) and reset control module (7) respectively, and described power module (8) is whole circuit supply;

Described infrared induction module (2) comprises infra-red detection sensor IC1, behind one end of the anodal also connecting resistance R1 of power end of described infra-red detection sensor IC1, be connected with positive source VCC, behind one end of one end of the other end of described resistance R 1 connecting resistance R2 and capacitor C 1, be connected with the collector of NPN type triode Q1, behind one end of the signal output part of described infra-red detection sensor IC1 connecting resistance R3, be connected with one end of capacitor C 2, after the other end of the other end shunt-wound capacitance C2 of described resistance R 2, be connected with the base stage of NPN type triode Q1, ground connection after the emitter of the power end negative pole of described infra-red detection sensor IC1 the other end of connecting resistance R3 and NPN type triode Q1, after the other end series resistor R4 of described capacitor C 1, be connected with the positive input terminal of operational amplifier IC2, behind one end of one end of the negative input end of described operational amplifier IC2 connecting resistance R5 and capacitor C 3, be connected with one end of resistance R 6, the rear ground connection of other end serial connection capacitor C 4 of described resistance R 5, after the other end of the other end of described capacitor C 3 connecting resistance R6, be connected with the output terminal of operational amplifier IC2, the output terminal of described operational amplifier IC2 is connected with the signal input port of main controller module (1),

Described ultrasound wave transmitter module (3) comprises time-base integrated circuit chip IC 3, after a stiff end of 7 pin of described time-base integrated circuit chip IC 3 one end of connecting resistance R7 and adjustable resistance R8, be connected with the movable end of adjustable resistance R8, the other end of described resistance R 7 and connect 2 pin of time-base integrated circuit chip IC 3 and 6 pin of time-base integrated circuit chip IC 3 after be connected with one end of capacitor C 5, the other end ground connection of described capacitor C 5, 8 pin of described time-base integrated circuit chip IC 3 and connect another stiff end of adjustable resistance R8 after be connected with positive source VCC, the rear ground connection of 5 pin serial connection capacitor C 6 of time-base integrated circuit chip IC 3, 4 pin of time-base integrated circuit chip IC 3 are connected with the signal output port of main controller module (1), 1 pin ground connection of time-base integrated circuit chip IC 3, after 3 pin series resistor R9 of time-base integrated circuit chip IC 3, be connected with 1 pin of hex inverter IC4, 9 pin of described hex inverter IC4 and connect 11 pin of hex inverter IC4 after be connected with 1 pin of hex inverter IC4,5 pin of 2 pin of hex inverter IC4,3 pin of hex inverter IC4, hex inverter IC4 also connect together, 8 pin of hex inverter IC4 and connect 10 pin of hex inverter IC4 after be connected with one end of capacitor C 7, the other end of described capacitor C 7 is connected with an input end of ultrasonic transducer S1,4 pin of described hex inverter IC4 and connect 6 pin of hex inverter IC4 after be connected with another input end of ultrasonic transducer S1,

Described ultrasound wave receiver module (4) comprises acoustic wave transducer S2, behind an output terminal of described acoustic wave transducer S2 one end of connecting resistance R10, be connected with one end of capacitor C 8, ground connection after another output terminal of ultrasonic transducer S2 the other end of connecting resistance R10, is connected with 2 pin of dual operational amplifier IC5 after the other end series resistor R11 of described capacitor C 8, after the 2 pin series resistor R12 of described dual operational amplifier IC5, be connected with 1 pin of dual operational amplifier IC5, 1 pin of dual operational amplifier IC5 is connected in series successively capacitor C 9 and is connected with 6 pin of dual operational amplifier IC5 after resistance R 13, after the 6 pin series resistor R14 of dual operational amplifier IC5, be connected with 7 pin of dual operational amplifier IC5, one end of the 3 pin shunt-wound capacitance C10 of dual operational amplifier IC5, behind one end of one end of resistance R 15 and resistance R 16, be connected with 5 pin of dual operational amplifier IC5, the equal ground connection of the other end of the other end of described capacitor C 10 and resistance R 15, the other end of described resistance R 16 is connected with positive source VCC, 7 pin of described dual operational amplifier IC5 are connected with the positive input terminal of voltage comparator ic 6, ground connection after the negative input end series resistor R17 of voltage comparator ic 6, is connected with positive source VCC after the negative input end series resistor R18 of voltage comparator ic 6, and the output terminal of voltage comparator ic 6 is connected with the signal input port of main controller module (1).

2. bio-robot animal sensing circuit according to claim 1, it is characterized in that: described infrared induction module (2), ultrasound wave transmitter module (3) and ultrasound wave receiver module (4) all have a plurality of, described ultrasound wave transmitter module (3) and ultrasound wave receiver module (4) arrange in pairs.

3. bio-robot animal sensing circuit according to claim 2, is characterized in that:

Described infra-red detection sensor IC1 adopts the infrared ray sensor that model is Q74;

Described operational amplifier IC2 adopts the operational amplifier chip that model is LM358;

Described time-base integrated circuit chip IC 3 adopts the chip that model is NE555;

Described hex inverter IC4 adopts the chip that model is CD4049;

Described dual operational amplifier IC5 adopts the dual operational amplifier that model is TL082;

Described voltage comparator ic 6 adopts the voltage comparator chip that model is LM311.