CN209264954U - Ultrasonic distance measurement obstacle avoidance system - Google Patents
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Abstract
The utility model belongs to ultrasonic distance measurement field, more particularly to ultrasonic distance measurement obstacle avoidance system, including controlling processing unit, serial port circuit and power management module, it further include multichannel ultrasonic transmission circuit, CAN transmission circuit, wherein the control processing unit is connected separately with ultrasonic transceiver circuit, serial port circuit, power management module and CAN transmission circuit, the power management module is used for ultrasonic transceiver circuit, the power supply of CAN transmission circuit and control processing unit, the control processing unit is used to communicate and control with master control system the operating control of each module, the ultrasonic transceiver circuit is for detecting barrier and measure distance；Used isolating transformer drives ultrasonic wave transmitting circuit, so that the detection range of the ultrasonic distance measurement obstacle avoidance system increases, extra-high voltage driving energy converter is realized, the power for emitting ultrasonic wave is sufficiently large, to realize detectivity more higher than conventional ADS driving mode.
Description
Technical field
The utility model belongs to ultrasonic distance measurement field, and in particular to a kind of ultrasonic distance measurement obstacle avoidance system.
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.) it can be carried out effective detection, and detecting transparent substance is not available for optical sensor.Ultrasonic wave is to be relatively more suitable for again
A kind of technical solution of miscellaneous application scenarios.
The structural block diagram of existing ultrasonic distance measurement scheme is as shown in Figure 1.The echo processing circuit of existing scheme is using first
Amplify the mode being filtered again, due to measuring the difference of distance, the fluctuating change of echo-signal is caused, but also signal exists
Biggish error.As shown in Figure 2；Thus the problem of bringing is that other noise letters are also exaggerated while amplifying echo-signal
Number, so that the difficulty of filtering processing circuit is increased, so that subsequent conditioning circuit is more complicated, so that the speed of response reduces.Therefore band
The detection blind area lower disadvantage of (common minimum blind area is 20cm~30cm) and sensitivity greatly is carried out；Existing ultrasonic wave simultaneously
Ranging is used as single module to occur more, only retains serial ports and uses as debugging, can not be in the field of longer wired communications distance
Scape uses, and is unfavorable for integrating with other systems.
Utility model content
To overcome the above the deficiencies in the prior art, the utility model discloses a kind of ultrasonic distance measurement obstacle avoidance systems.
In order to solve the above-mentioned technical problem, the utility model uses following technical scheme: providing a kind of ultrasonic distance measurement and keeps away
Barrier system, including control processing unit, serial port circuit and power management module, further include multichannel ultrasonic transmission circuit, CAN
Transmission circuit, the control processing unit be connected separately with ultrasonic transceiver circuit, serial port circuit, power management module and
CAN transmission circuit, the ultrasonic transceiver circuit is for detecting barrier and measure distance；The power management module is for surpassing
Sound wave transmission circuit, CAN transmission circuit and the power supply for controlling processing unit, the control processing unit is for each module of system
Operating control.
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.
As a further improvement of the foregoing solution, echo signal processing circuit signal input is connected to first resistor one
End, the first resistor other end are connected with first capacitor one end, the inverting input terminal of the other end of first capacitor and the first amplifier
It is connected；The non-inverting input terminal of first amplifier is connected to one end of second resistance, and the other end of second resistance is connected to third electricity
One end of resistance, the other end of 3rd resistor are connected with the output end of the first amplifier；The non-inverting input terminal of first amplifier and second
One end of capacitor connects, the other end ground connection of the second capacitor；The output end of first amplifier is connected with the 4th resistance one end, and the 4th
The other end of resistance is connected to one end of third capacitor, and the other end of third capacitor is connected to the inverting input terminal of the second amplifier；
The non-inverting input terminal of second amplifier is connected with one end of the 5th resistance, and the other end of the 5th resistance is connected to the 6th resistance and
The other end after one end after four capacitors are in parallel, the 6th resistance and the parallel connection of the 4th capacitor is connected with the output end of the second amplifier；
The non-inverting input terminal of second amplifier is connected with one end of the second capacitor, the other end ground connection of the second capacitor；Second amplifier it is defeated
Outlet is connected with one end of the 7th resistance, and the other end of the 7th resistance is connected with one end of the 5th capacitor, the 5th capacitor
The other end is connected with the inverting input terminal of third amplifier；The inverting input terminal of third amplifier is connected with one end of the 8th resistance
It connects, the other end of the 8th resistance is connected to the output end of third amplifier；The non-inverting input terminal one side and the 15th of third amplifier
One end of resistance is connected, on the other hand another termination power of the 15th resistance is connected with one end of the 16th resistance, the
The other end of 16 resistance is grounded；The output end of third amplifier is connected with one end of the 6th capacitor, the other end of the 6th capacitor
It is connected to one end of detector diode, the other end of detector diode is connected to the non-inverting input terminal of four high guaily unit；Four high guaily unit
Non-inverting input terminal and the 9th resistance and the 7th capacitor it is in parallel after one end be connected, the 9th resistance and the 7th capacitor it is in parallel after
The other end is connected to the inverting input terminal of four high guaily unit；On the one hand the inverting input terminal of four high guaily unit connects power supply through the tenth resistance,
On the other hand it is grounded through eleventh resistor；The output end of four high guaily unit is connected with one end of zener diode, zener diode
The other end be connected to the base stage of triode；One end after the base stage of triode is in parallel with twelfth resistor and the 8th capacitor is connected
It connects, the other end ground connection after twelfth resistor and the parallel connection of the 8th capacitor；The emitter of triode is grounded；The collector of triode with
One end of thirteenth resistor is connected, another termination power of thirteenth resistor；Triode is connected with one end of the 14th resistance
It connects, the other end of the 14th resistance is connected to signal output end.
Further, the low-frequency d in echo-signal that the first capacitor receives transceiver ultrasonic probe
Signal filtering, so that preamplifying circuit amplifies the AC signal in echo-signal.
Further, after the detection shaping circuit is by being made of low-pass filter processing the 9th resistance and the 7th capacitor
Round and smooth envelope signal is formed, then shaped processing is square-wave 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 between control processing unit and master controller.
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: the utility model is able to achieve multi-faceted detection and avoidance, detection is improved
Sensitivity and accuracy；The used isolating transformer of ultrasonic transceiver circuit drives the ultrasonic adaptive transmitting of wave transmitting circuit cooperation
Pulse control, the interference being effectively isolated between each section reduce probe remained shock, utmostly improve detection range and reduction detection is blind
Area, so that the maximum detectable range of the ultrasonic distance measurement obstacle avoidance system is 5m, blind area 10cm；It is real using isolation boosting transformer
Show extra-high voltage driving energy converter, effectively increases the emissive porwer of ultrasonic signal；Effectively optimization circuit, sufficiently improves effect
Rate, so that circuit effectively improves detectivity and minimum detection blind area, maximum drive voltage is up to 160V, so that transmitting is super
The power of sound wave is sufficiently large, to realize detectivity more higher than conventional ADS driving mode；Echo processing circuit design makes
Subsequent conditioning circuit processing it is simple and easy, the speed of response is effectively promoted；Remaining module uses 232 serial ports and CAN communication super to realize
Channel of acoustic wave quantity freely configure and the interconnection with other systems unit, can also the interconnection of multiple ultrasonic distance measurement obstacle avoidance systems,
The interconnection of at most achievable up to 110 autonomous system units, so as to carry out the extension of ultrasonic system according to actual needs
With the integration with other systems, there is high versatility and practicability.
Detailed description of the invention
Fig. 1 is the structural block diagram of existing ultrasonic distance measurement scheme；
Fig. 2 is the echo processing circuit of existing ultrasonic distance measurement scheme；
Fig. 3 is the utility model ultrasonic distance measurement obstacle avoidance system block diagram；
Fig. 4 is the utility model ultrasonic distance measurement obstacle avoidance system range-measurement system block diagram；
Fig. 5 is the utility model ultrasonic distance measurement obstacle avoidance system echo processing circuit structural block diagram；
Fig. 6 is the utility model ultrasonic distance measurement obstacle avoidance system echo signal processing circuit diagram；
Fig. 7 is that the utility model ultrasonic distance measurement obstacle avoidance system communicates to connect structural block diagram.
Specific embodiment
As shown in figure 3, the utility model provides a kind of ultrasonic distance measurement obstacle avoidance system, including control processing unit 2, serial ports
Circuit 4 and power management module 6 further include multichannel ultrasonic transmission circuit 1, CAN transmission circuit 3, wherein at the control
Reason unit 2 is connected separately with ultrasonic transceiver circuit 1, serial port circuit 4, power management module 6 and CAN transmission circuit 3, described
Power management module 6 is for ultrasonic transceiver circuit 1, CAN transmission circuit 3 and the power supply for controlling processing unit 2, at the control
Reason 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 simultaneously measures distance, and 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 part autonomous mobile apparatus itself is larger and ultrasonic probe
The limitation of investigative range, the probe that the utility model is evenly arranged using 6 realize three directions in front and left and right to equipment
Detection of obstacles；6 channel ultrasonic transmission circuits 1 are emitted by 6 independent ultrasonic waves and are received circuit and form, CAN transmitting-receiving
Device 3 uses TJA1051, and the power management module 6 is for ultrasonic transceiver circuit, CAN transmission circuit 3 and control processing unit
2 power supply, it includes the power supply of tri- kinds of voltage of 12V, 5V, 3.3V, the input voltage range of system is 15~36V, the control
Processing unit 2 uses STM32F103C8T6, for the operating control of each module to be communicated and controlled with master controller 5,
The schematic diagram of ultrasonic distance measurement obstacle avoidance system is as shown in figure 4,11 being transceiver ultrasonic probe in figure, 12 being receipts
Hair driving circuit, 13 be echo signal processing circuit, 2 be control processing unit, 3 be CAN transceiver, 5 be master controller, 7 be
Barrier.The utility model use 6 groups of independent ultrasonic transceiver circuits, 6 groups of transmission circuits all pass through control processing unit 2 into
The control of row transmitting and signal operation processing.The advantage of scheme is isolation drive part, echo-signal compared with the existing technology
Processing circuit part and CAN transceiver part.Reception of the driving circuit 12 for ultrasonic signal transmitting and echo-signal is received and dispatched,
Circuit uses energy bleeder resistance, for discharging the dump energy after ultrasonic signal emits in coil；It further include two poles of clamp
Pipe, the amplitude of echo-signal is limited between positive and negative 0.7V, is caused with preventing amplitude excessively high to follow-up signal processing circuit
Damage；It is otherwise isolated from step-up transformer, the drive signal amplitude on right side is increased to original 10 by transformer by driving signal
Times, to increase the emissive porwer of ultrasonic signal.
As the optimization of above scheme, the driving signal of ultrasonic wave transmitting uses amplitude for 3.3V, and frequency is the arteries and veins of 40kHz
Signal driving is rushed, 4~8 pulses are emitted, specific pulse number is determined according to actual use scene.Due to pulse number and ultrasound
Energy size when wave emits is directly proportional, and pulse number is more, and the energy put aside in transformer coil is more, and ultrasonic wave is in sky
The distance propagated in gas is also farther, but can cause the increase of probe remained shock time, increases the spy of ultrasonic ranging system indirectly
Blind area is surveyed, detection range is utmostly improved using the program and is minimized detection blind area.
Echo signal processing circuit block diagram as shown in figure 5, 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 fig. 6, 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 simultaneously
One end after 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
The non-inverting input terminal of two amplifiers 29 is connected with one end of the second capacitor 54, the other end ground connection of the second capacitor 54；Second amplifier
29 output end is connected with one end of the 7th resistance 32, and 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 the
One end after seven capacitors, 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 four high guaily unit
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 tenth
One 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
End is connected to the base stage of triode 47；One end phase after the base stage of triode 47 is in parallel with twelfth resistor 46 and the 8th capacitor 45
Connection, 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 be connected with one end of thirteenth resistor 48, another termination power of thirteenth resistor 48；Triode 47 and the tenth
One end of four 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
For single supply op, it is all made of 12V power supply power supply；Power supply 41,51 is 12V power supply；Resistance 52,53 is bias bleeder resistance, is
Amplifier 24,29,34 provides forward bias voltage in figure, and 54 be decoupling capacitor.21~25 constitute preamplifying circuit, and 21 be input
Resistance, 22 be capacitance, and 23 be input signal pull-up resistor, and 24 be single supply op, and 25 be feedback resistance；Prime amplification
Gain is determining by resistance 21 and resistance 25, forward gain 8dB；Filter capacitor 22 receives transceiver ultrasonic probe
Echo-signal in low-frequency d signal filter so that preamplifying circuit only in echo-signal AC signal amplify.
26~31 constitute unlimited gain multiple feedback bandpass filter, and centre frequency and pass band width pass through resistance 26,27,30 and electricity
Hold 28,31 to determine；The centre frequency of design is 40.1kHz, and passband gain 7dB, bandwidth is 36.918kHz~43.283kHz；
32~35 constitute secondary amplification circuit, carry out secondary amplification to filtered signal to meet the requirement of subsequent processing；Circuit knot
Structure is consistent with primary amplifying circuit, and the signal due to entering secondary amplifier section has been subjected to filtering, and only needing will be filtered
Signal, which is amplified to, meets subsequent processing requirement；The gain of secondary amplification circuit is 15dB；Therefore amplifying circuit after treatment
Overall gain be 30dB.36~45 constitute detection shaping circuit, wherein 36~39 be detecting circuit, 41~45 be shaping 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 detection
Envelope signal afterwards carries out Shape correction and obtains switching signal；Practical shaping circuit is 41~45 voltage comparators constituted, fortune
The reverse side for putting 50 obtains the reference voltage of 6V by resistance 42 and the partial pressure of resistance 43, and envelope signal obtains one after comparator
Determine the square-wave signal of pulsewidth；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 ultrasonic distance measurement obstacle avoidance system and conducive to the integration of follow-up system, which is kept away
It is the interconnection (being not limited to robot system) of same unit that barrier system, which uses CAN communication to realize with other,.Since CAN bus has
Real-time is good, long transmission distance, convenient for node expansion, strong antijamming capability, the advantage of low cost, ultrasonic distance measurement obstacle avoidance system
It can according to need and be extended and integrated with other systems, to have high versatility.The utility model is answered
It is the detection of obstacles (but not limited to this) of autonomous mobile robot during the motion with scene；Master controller and ultrasound
Connection schematic diagram away from obstacle avoidance system is as shown in Figure 7.
Claims (9)
1. ultrasonic distance measurement obstacle avoidance system, including control processing unit, serial port circuit and power management module, which is characterized in that
It further include multichannel ultrasonic transmission circuit, CAN transmission circuit, the control processing unit is connected separately with ultrasonic transmission/reception electricity
Road, serial port circuit, power management module and CAN transmission circuit, the ultrasonic transceiver circuit is for detecting barrier and surveying
Spend distance；The power management module is for ultrasonic transceiver circuit, CAN transmission circuit and the power supply for controlling processing unit, institute
State the operating control that control processing unit is used for each module of system.
2. ultrasonic distance measurement obstacle avoidance system as described in claim 1, which is characterized in that the ultrasonic transceiver circuit is by least
Three independent ultrasonic wave transmittings and reception circuit composition, each independent circuits are set to the different direction of system.
3. ultrasonic distance measurement obstacle avoidance system as claimed in claim 1 or 2, which is characterized in that in the ultrasonic transceiver circuit
Each independent circuits include transceiver ultrasonic probe, transmitting-receiving driving circuit and echo signal processing circuit；Wherein, at control
Manage unit, transmitting-receiving driving circuit, transceiver ultrasonic probe and the connection of echo signal processing circuit closed loop.
4. ultrasonic distance measurement obstacle avoidance system as claimed in claim 3, which is characterized in that the transmitting-receiving driving circuit is for ultrasound
The reception of wave signal transmitting and echo-signal, wherein ultrasonic wave transmitting has the pulse signal detection obstacle of setting amplitude and frequency
Object.
5. ultrasonic distance measurement obstacle avoidance system as claimed in claim 3, which is characterized in that the 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
It is filtered after primary amplifying circuit is amplified by filter circuit, carries out secondary amplification through secondary amplification circuit again thereafter, finally
Square-wave signal is obtained through detection shaping circuit, is converted into switching signal by level shifting circuit.
6. ultrasonic distance measurement obstacle avoidance system as claimed in claim 5, which is characterized in that the echo signal processing circuit signal
Input terminal is connected to first resistor one end, and the first resistor other end is connected with first capacitor one end, the other end of first capacitor
It is connected with the inverting input terminal of the first amplifier；The non-inverting input terminal of first amplifier is connected to one end of second resistance, the second electricity
The other end of resistance is connected to one end of 3rd resistor, and the other end of 3rd resistor is connected with the output end of the first amplifier；First
The non-inverting input terminal of amplifier is connect with one end of the second capacitor, the other end ground connection of the second capacitor；The output end of first amplifier with
4th resistance one end is connected, and the other end of the 4th resistance is connected to one end of third capacitor, the other end connection of third capacitor
To the inverting input terminal of the second amplifier；The non-inverting input terminal of second amplifier is connected with one end of the 5th resistance, the 5th resistance
The other end be connected to the 6th resistance and the 4th capacitor it is in parallel after one end, the 6th resistance and the 4th capacitor it is in parallel after the other end with
The output end of second amplifier is connected；The non-inverting input terminal of second amplifier is connected with one end of the second capacitor, the second capacitor
Other end ground connection；The output end of second amplifier is connected with one end of the 7th resistance, the other end and the 5th capacitor of the 7th resistance
One end be connected, the other end of the 5th capacitor is connected with the inverting input terminal of third amplifier；The anti-phase input of third amplifier
End is connected with one end of the 8th resistance, and the other end of the 8th resistance is connected to the output end of third amplifier；Third amplifier it is same
On the one hand phase input terminal is connected with one end of the 15th resistance, another termination power of the 15th resistance, on the other hand with the
One end of 16 resistance is connected, the other end ground connection of the 16th resistance；One end of the output end of third amplifier and the 6th capacitor
It is connected, the other end of the 6th capacitor is connected to one end of detector diode, and the other end of detector diode is connected to the 4th fortune
The non-inverting input terminal put；One end after the non-inverting input terminal of four high guaily unit is in parallel with the 9th resistance and the 7th capacitor is connected, the
The other end after nine resistance and the 7th capacitor are in parallel is connected to the inverting input terminal of four high guaily unit；The inverting input terminal of four high guaily unit
On the one hand power supply is connect through the tenth resistance, is on the other hand grounded through eleventh resistor；The output end and zener diode of four high guaily unit
One end be connected, the other end of zener diode is connected to the base stage of triode；The base stage of triode and twelfth resistor and
One end after 8th capacitor is in parallel is connected, the other end ground connection after twelfth resistor and the parallel connection of the 8th capacitor；The hair of triode
Emitter grounding；The collector of triode is connected with one end of thirteenth resistor, another termination power of thirteenth resistor；Three poles
One end of 14 resistance of Guan Yu is connected, and the other end of the 14th resistance is connected to signal output end.
7. ultrasonic distance measurement obstacle avoidance system as claimed in claim 6, which is characterized in that the first capacitor surpasses transceiver
Low-frequency d signal filtering in the echo-signal that sonic probe receives, so that preamplifying circuit is to the friendship in echo-signal
Stream signal amplifies.
8. ultrasonic distance measurement obstacle avoidance system as claimed in claim 6, which is characterized in that the detection shaping circuit passes through by
Nine resistance and the 7th capacitor form round and smooth envelope signal after constituting low-pass filter processing, then shaped processing is that square wave is believed
Number.
9. ultrasonic distance measurement obstacle avoidance system as described in claim 1, which is characterized in that the connection of CAN transmission circuit one end
There is control processing unit, the other end is connected with master controller, for realizing the communication between control processing unit and master controller.
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| CN109387842A (en) * | 2018-11-30 | 2019-02-26 | 成都越凡创新科技有限公司 | Ultrasonic distance measurement obstacle avoidance system |
| CN112230206A (en) * | 2020-09-21 | 2021-01-15 | 深圳市富临通实业股份有限公司 | Ultrasonic ranging module and ultrasonic equipment of single probe |
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| CN109387842A (en) * | 2018-11-30 | 2019-02-26 | 成都越凡创新科技有限公司 | Ultrasonic distance measurement obstacle avoidance system |
| WO2022016562A1 (en) * | 2020-07-22 | 2022-01-27 | 南京科沃信息技术有限公司 | Vision-based crop protection unmanned aerial vehicle obstacle-avoidance system and obstacle avoidance method thereof |
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