CN209265266U - Avoidance detection circuit for mobile device - Google Patents
Avoidance detection circuit for mobile device Download PDFInfo
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- CN209265266U CN209265266U CN201822010608.9U CN201822010608U CN209265266U CN 209265266 U CN209265266 U CN 209265266U CN 201822010608 U CN201822010608 U CN 201822010608U CN 209265266 U CN209265266 U CN 209265266U
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Abstract
The utility model belongs to field of mobile equipment, more particularly to a kind of avoidance detection circuit for mobile device, including sensor main control module, sensor main control module is connected separately with laser radar detection module, ultrasound examination module, image capture module, collision detection module；Sensor main control module is for receiving each sensor real-time feedback data and executing corresponding actions according to the data；Laser radar detection module by using laser acquisition object go forward side by side row distance measure；Ultrasound examination module carries out short distance measurement by ultrasonic wave；Image capture module realizes the road conditions on perception mobile device periphery for acquiring image and handling image；Collision detection module is for detecting, judging shock signal when mobile device collides, the circuit is combined using multiple sensors such as laser radar, ultrasonic sensor, camera and crash sensors, overcome the shortcoming being individually present, realizes mobile device and detected in a wide range of interior avoidance.
Description
Technical field
The utility model belongs to field of mobile equipment, and in particular to a kind of avoidance detection circuit for mobile device.
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.) can be carried out effective detection, and detecting transparent substance is not available for optical sensor, but telemeasurement exist it is certain
Problem.
Therefore, previous was all to be carried out using single-sensor closely or detection at a distance, and in mobile device mostly
In moving process a wide range of over long distances, combine setting to work on different location, in respective advantage areas multiple sensors,
Complementation matching, to guarantee to realize that the equipment of effective avoidance detection is less.
Utility model content
To overcome the above the deficiencies in the prior art, the utility model discloses a kind of avoidances for mobile device to detect electricity
Road.
In order to solve the above-mentioned technical problem, the utility model uses following technical scheme: providing a kind of for mobile device
Avoidance detection circuit, including sensor main control module, laser radar detection module, ultrasound examination module, Image Acquisition mould
Block and collision detection module；
Wherein, the sensor main control module is connected separately with laser radar detection module, ultrasound examination module, image
Acquisition module, collision detection module；
The sensor main control module is for receiving each sensor real-time feedback data and executing phase according to the data
Answer control action；The laser radar detection module by using laser acquisition object go forward side by side row distance measure；The ultrasonic wave
Detection module carries out short distance measurement by ultrasonic wave；Described image acquisition module is for acquiring image and handling image
It is converted into digital signal；The collision detection module is for detecting, judging shock signal when mobile device collides.
Through the above technical solutions, avoidance is realized using ultrasound examination in short distance, in long range
Obstruction forewarning avoidance is realized using laser radar, figure is built by the completion of camera real-time image acquisition, to realize perception movement
The road conditions on equipment periphery；It inputs in conjunction with the signal of multiple sensors, in sensor main control module after analysis is handled, executes high-precision
Spend avoidance.
Further, the sensor main control module be provided with laser radar signal input terminal, ultrasonic signal input terminal,
Collision alarm input terminal and image pick-up signal input terminal；
Wherein, the laser radar signal input terminal is connect with laser radar detection module；
The ultrasonic signal input terminal is connect with ultrasound examination module；
The collision alarm input terminal is connect with collision detection module；
Described image acquisition signal input part is connected with image capture module.
Further, there are six tunnel ends for the ultrasound examination module setting；Each channel be connected separately with
Corresponding ultrasonic probe, each ultrasonic probe, which receives and emits, shares a channel interface.
Inventor points out, 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, Mei Gechao are realized with 6 equally distributed independent probes
Sonic probe, which receives and emits, shares a channel interface, realizes avoidance detection by time-sharing multiplex principle.
Further, the ultrasound examination module further includes ultrasonic signal output end；Wherein, the ultrasonic signal
Output port is connected to ultrasonic signal input terminal.
Further, the laser radar detection module is provided with laser radar signal output end and router interface
End, wherein the laser radar signal output end is connected to laser radar signal input terminal, and the router interface end is connected to
Router.
Further, described image acquisition module is provided at least four USB ports；Wherein, two USB ports are connected with
Camera, other two is connected with RGBD.
Further, the collision detection module is provided with crash sensor, and the crash sensor is connected to collision letter
Number input terminal.
The utility model has the following beneficial effects: being touched by integrated LIDAR, ultrasonic wave, visual pattern and condenser type
It hits detection and amounts to 4 kinds of detection modes, which combines the reapective features of the sensor of above-mentioned 4 seed type, mutually match
It closes to improve the accuracy of detection, realizes a wide range of avoidance detection of mobile device.
Detailed description of the invention
Fig. 1 is the avoidance detection circuit block diagram that the utility model is used for mobile device；
Fig. 2 is circuit connection diagram of the utility model for the avoidance detection circuit of mobile device.
Specific embodiment
Referring to the drawings, the avoidance provided by the utility model for mobile device is described in detail by embodiment
Detection circuit.It should be noted that being used to help understand the utility model for the explanation of these embodiments, but not
Constitute the restriction to the utility model.
Specifically, as shown in Figure 1, providing a kind of avoidance detection circuit for mobile device, including sensor master control mould
Block, laser radar detection module, ultrasound examination module, image capture module and collision detection module；
Wherein, the sensor main control module is connected separately with laser radar detection module, ultrasound examination module, image
Acquisition module, collision detection module；The sensor main control module for receive each sensor real-time feedback data and according to
The data execute corresponding actions；The laser radar detection module by using laser acquisition object go forward side by side row distance measure；
The ultrasound examination module carries out short distance measurement by ultrasonic wave；Described image acquisition module is for acquiring image and to figure
It is converted into digital signal as carrying out processing, to realize the road conditions on perception mobile device periphery；The collision detection module is used for
Detection judges shock signal when mobile device collides.
Further, the sensor main control module be provided with laser radar signal input terminal, ultrasonic signal input terminal,
Collision alarm input terminal and camera signals input terminal；
Wherein, the laser radar signal input terminal is connect with laser radar detection module；The ultrasonic signal input
End is connect with ultrasound examination module；The collision alarm input terminal is connect with collision detection module；Described image acquires signal
Input terminal is connected with image capture module.
Further, there are six tunnel ends for the ultrasound examination module setting；Each channel be connected separately with
Corresponding ultrasonic probe, each ultrasonic probe, which receives and emits, shares a channel interface.
Ultrasound examination module further includes ultrasonic signal output end；Wherein, the ultrasonic signal output port connection
To ultrasonic signal input terminal.Ultrasonic sensor be used to detect autonomous mobile apparatus before, the obstacle quality testing in left and right three directions
It surveys, is detected in insufficient situation with making up laser radar to transparent substance, the mobile model barrier swarmed into suddenly can be carried out
Reply well.
Laser radar detection module is provided with laser radar signal output end and router interface end, wherein described to swash
Optical radar signal output end is connected to laser radar signal input terminal, and the router interface end is connected to router.The system
In, laser radar passes through laser radar sky collected for detecting remote space environment state, sensor main control module
Between environmental data rendering space map, then according to map carry out navigation and movement routine planning.
Image capture module is provided at least four USB ports, wherein and two USB ports are connected with camera, and in addition two
A to be connected with RGBD, visual pattern is uploaded to main control module by camera and the acquisition of RGBD depth camera and executes corresponding control
System；
Collision detection module is provided with crash sensor, and the crash sensor is connected to collision alarm input terminal.Collision
Detection sensor is lower than 10cm smaller barrier below and short step for detecting height, to avoid autonomous mobile apparatus master
Body is hit with barrier；Whether collision detection sensor uses flexible contact face, be squeezed production by detecting the contact surface
The detection to small obstacle is completed in raw deformation.
Meanwhile the circuit can carry out diversified configuration according to actual needs, can independently select above-mentioned 4 kinds of detection modes
In some or all of carry out matched combined, to meet the reliable detection under complicated applications environment.
The above automatic mobile device can be vending machine people, but not limited to this place is enumerated, any with such system
Realize that the automatic mobile device of function all may be used.
Claims (7)
1. being used for the avoidance detection circuit of mobile device, which is characterized in that detect mould including sensor main control module, laser radar
Block, ultrasound examination module, image capture module and collision detection module；Wherein, the sensor main control module connects respectively
It is connected to laser radar detection module, ultrasound examination module, image capture module, collision detection module；
The sensor main control module is for receiving each sensor real-time feedback data and executing corresponding control according to the data
Braking is made；The laser radar detection module by using laser acquisition object go forward side by side row distance measure；The ultrasound examination
Module carries out short distance measurement by ultrasonic wave；Described image acquisition module is for acquiring image and carrying out processing conversion to image
For digital signal；The collision detection module is used to detect shock signal when mobile device collides.
2. being used for the avoidance detection circuit of mobile device as described in claim 1, which is characterized in that the sensor master control mould
It is defeated that block is provided with laser radar signal input terminal, ultrasonic signal input terminal, collision alarm input terminal and image pick-up signal
Enter end；
Wherein, the laser radar signal input terminal is connect with laser radar detection module；The ultrasonic signal input terminal with
The connection of ultrasound examination module；The collision alarm input terminal is connect with collision detection module；Described image acquires signal input
End is connected with image capture module.
3. being used for the avoidance detection circuit of mobile device as described in claim 1, which is characterized in that the ultrasound examination mould
There are six tunnel ends for block setting；Each channel is connected separately with corresponding ultrasonic probe, each ultrasonic probe
It receives and emits and share a channel interface.
4. the avoidance detection circuit as claimed in claim 1 or 3 for mobile device, which is characterized in that the ultrasonic wave inspection
Surveying module further includes ultrasonic signal output end；Wherein, the ultrasonic signal output port is connected to ultrasonic signal input
End.
5. being used for the avoidance detection circuit of mobile device as described in claim 1, which is characterized in that the laser radar detection
Module is provided with laser radar signal output end and router interface end, wherein the laser radar signal output end connection
To laser radar signal input terminal, the router interface end is connected to router.
6. being used for the avoidance detection circuit of mobile device as described in claim 1, which is characterized in that described image acquisition module
It is provided at least four USB ports；Wherein, two USB ports are connected with camera, other two is connected with RGBD.
7. being used for the avoidance detection circuit of mobile device as described in claim 1, which is characterized in that the collision detection module
It is provided with crash sensor, the crash sensor is connected to collision alarm input terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822010608.9U CN209265266U (en) | 2018-11-30 | 2018-11-30 | Avoidance detection circuit for mobile device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822010608.9U CN209265266U (en) | 2018-11-30 | 2018-11-30 | Avoidance detection circuit for mobile device |
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| Publication Number | Publication Date |
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| CN209265266U true CN209265266U (en) | 2019-08-16 |
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| CN201822010608.9U Active CN209265266U (en) | 2018-11-30 | 2018-11-30 | Avoidance detection circuit for mobile device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112083730A (en) * | 2020-09-28 | 2020-12-15 | 双擎科技(杭州)有限公司 | Method for avoiding obstacles in complex environment by fusing multiple groups of sensor data |
| CN112425344A (en) * | 2020-11-25 | 2021-03-02 | 西南大学 | Orchard self-propelled weeding machine and autonomous navigation obstacle avoidance method thereof |
-
2018
- 2018-11-30 CN CN201822010608.9U patent/CN209265266U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112083730A (en) * | 2020-09-28 | 2020-12-15 | 双擎科技(杭州)有限公司 | Method for avoiding obstacles in complex environment by fusing multiple groups of sensor data |
| CN112425344A (en) * | 2020-11-25 | 2021-03-02 | 西南大学 | Orchard self-propelled weeding machine and autonomous navigation obstacle avoidance method thereof |
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