WO2022266950A1 - Ultrasonic ranging obstacle avoidance method and obstacle avoidance device - Google Patents

Abstract

An ultrasonic ranging obstacle avoidance method, an obstacle avoidance apparatus, and an ultrasonic ranging obstacle avoidance device. The ultrasonic ranging obstacle avoidance method comprises: approaching a target obstacle, and simultaneously transmitting a first ultrasonic signal to the target obstacle, the first ultrasonic signal being reflected by the target obstacle to form a first reflected signal (S100); receiving the first reflected signal (S200); comparing the first reflected signal with a reference threshold corresponding to the current location (S300); determining whether the first reflected signal exceeds the reference threshold (S400); and if yes, executing an obstacle avoidance action, and if not, continuing to approach the obstacle (S500). According to the method, by learning a usage environment in advance, and using an ultrasonic reflected signal to compare with a reference threshold obtained after learning, whether an obstacle is present is determined. Compared with an existing obstacle avoidance means in which an obstacle is determined by means of ranging, the method may exclude interference factors such as ultrasonic aftershocks and motor interference waves, thereby improving obstacle avoidance accuracy.

Description

Ultrasonic ranging and obstacle avoidance method and obstacle avoidance device technical field

The present application relates to the technical field of ultrasonic distance measurement, in particular to an ultrasonic distance measurement and obstacle avoidance method and an obstacle avoidance device.

Background technique

Ultrasound has the characteristics of strong directivity and slow energy consumption. At the same time, when the ultrasonic wave encounters a target obstacle during propagation, it will be reflected. Therefore, the existing technologies often use ultrasonic waves for distance measurement, so as to achieve the purpose of obstacle avoidance.

technical problem

In practical applications, due to the physical characteristics of the ultrasonic vibrating plate, the generation of ultrasonic waves will be accompanied by aftershocks, which will interfere with the ultrasonic waves reflected back from the target to be measured. At the same time, in some applications where ultrasonic waves are used for distance measurement and obstacle avoidance, Because the motor will also generate interference waves when it moves, which will affect the ultrasonic detection effect. Therefore, if it is judged whether there is an obstacle based on the detection distance, the above-mentioned interference factors will exist, which may easily cause a judgment error.

technical solution

The main purpose of this application is to propose a method for ultrasonic ranging and obstacle avoidance, which aims to solve the technical problem that the detection and judgment are easily affected by interference signals in the process of ultrasonic ranging and obstacle avoidance.

In order to achieve the above purpose, the present application proposes an ultrasonic ranging and obstacle avoidance method, including an ultrasonic ranging device, including the following steps:

The ultrasonic ranging device approaches the target obstacle, and at the same time transmits a first ultrasonic signal to the target obstacle, and the first ultrasonic signal is reflected by the target obstacle to form a first reflected signal;

receiving the first reflected signal;

comparing the first reflected signal with a reference threshold corresponding to the current position;

judging whether the first reflected signal exceeds a reference threshold; and

If yes, perform an obstacle avoidance action, if not, continue to approach the obstacle.

Further, the reference threshold includes a preset threshold and a recording threshold, and the recording threshold is obtained by measuring the usage environment.

Further, before approaching the target obstacle while transmitting the first ultrasonic signal to the target obstacle, the following steps are also included:

Approaching the target obstacle, simultaneously transmitting a second ultrasonic signal to the target obstacle at different positions and receiving reflection to form a second reflection signal;

Obtaining a reflection parameter range by configuring parameters based on the second reflection signal; and

Record the reflection parameter range and the corresponding position to obtain the recording threshold.

Further, after recording the reflection parameter range and the corresponding position and obtaining the recording threshold, the following steps are further included:

Repeat multiple round-trip movements at the farthest and closest positions from the target obstacle;

Transmitting third ultrasonic signals to the target obstacle at different positions and receiving reflections to form third reflected signals;

Comparing the third reflected signal with a recording threshold corresponding to the current position;

judging whether the third reflected signal exceeds a recording threshold; and

If so, reconfigure the parameters, if not, keep recording the threshold.

Further, the step of approaching the target obstacle includes:

The ultrasonic distance measuring device is driven by the drive unit to approach the target obstacle.

Further, the position information of the current position is provided by the drive unit.

Further, the drive unit adopts one of a Hall encoder motor, a photoelectric encoder motor, and a stepping motor.

Further, the step of performing an obstacle avoidance action includes:

Stop approaching or moving away from the target obstacle.

The present application also provides an obstacle avoidance device, which is operated by the above method, and the obstacle avoidance device includes:

Ultrasonic transmitting module, used for transmitting ultrasonic signal to target obstacle;

Ultrasonic receiving module, used for receiving reflected signal;

a driving module, used to drive the ultrasonic transmitting module and the ultrasonic receiving module to approach the target obstacle;

a storage module for storing the reference threshold; and

The calculation module is used for judging whether the reflected signal exceeds the reference threshold.

The present application also provides an ultrasonic ranging and obstacle avoidance device, the device includes a controller and a memory, at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is controlled by the The controller is loaded and executed to realize the above-mentioned ultrasonic ranging and obstacle avoidance method.

Beneficial effect

The technical solution provides an ultrasonic distance measurement and obstacle avoidance method, the steps of which include: approaching a target obstacle, and at the same time transmitting a first ultrasonic signal to the target obstacle, and the first ultrasonic signal is reflected by the target obstacle Forming a first reflection signal; receiving the first reflection signal; comparing the first reflection signal with a reference threshold corresponding to the current position; judging whether the first reflection signal exceeds the reference threshold, if so, performing an obstacle avoidance action, if not , continue to approach the obstacle. This method learns the use environment in advance, and uses the ultrasonic reflection signal to compare with the reference threshold obtained after completing the learning, so as to judge whether there are obstacles. Compared with judging obstacles by distance measurement, this method can eliminate ultrasonic aftershocks and motor interference waves, etc. Other influencing factors, and then improve the accuracy of obstacle avoidance.

Description of drawings

FIG. 1 is a schematic flowchart of steps of an ultrasonic ranging and obstacle avoidance method according to Embodiment 1 of the present application.

FIG. 2 is a schematic structural diagram of an obstacle avoidance device according to Embodiment 1 of the present application.

Fig. 3 is a schematic diagram of the recovery state of the obstacle avoidance device according to Embodiment 2 of the present application.

FIG. 4 is a schematic diagram of an open state of the obstacle avoidance device according to Embodiment 2 of the present application.

Fig. 5 is a top view of the obstacle avoidance device according to Embodiment 2 of the present application.

FIG. 6 is a schematic diagram of the connection structure between the controller and the motor drive circuit in Embodiment 2 of the present application.

FIG. 7 is a circuit diagram of a controller and a boost chip according to Embodiment 2 of the present application.

FIG. 8 is a circuit diagram of an electromagnetic relay and a connection socket circuit in Embodiment 2 of the present application.

FIG. 9 is a circuit diagram of a peripheral device control circuit according to Embodiment 2 of the present application.

FIG. 10 is a circuit diagram of an ultrasonic control circuit in Embodiment 2 of the present application.

FIG. 11 is a circuit diagram of a DC step-down circuit according to Embodiment 2 of the present application.

Fig. 12 is a schematic diagram of the recovery state of the obstacle avoidance device according to Embodiment 3 of the present application.

Fig. 13 is a schematic diagram of the open state of the third embodiment of the obstacle avoidance device of the present application.

Explanation of reference numbers:

10-ultrasonic distance measuring device, 20-supporting plate, 30-seat body, 31-underframe, 40-connecting rod, 51-chute, 52-side rod, 53-driving rod, 54-motor, 100-control Device, 200-motor drive circuit, 201-connecting socket, 202-electromagnetic relay, 203-boost chip, 400-power module, 500-manual control module, 600-storage module.

Embodiment of this application

Embodiment one

Please refer to FIG. 1 , the ultrasonic ranging and obstacle avoiding method of the present application is applied to an obstacle avoiding device, and the obstacle avoiding device is provided with an ultrasonic ranging device and a driving unit. Described ultrasonic distance measuring device adopts prior art, and described method comprises the steps:

S100: The ultrasonic ranging device approaches the target obstacle, and simultaneously transmits a first ultrasonic signal to the target obstacle, and the first ultrasonic signal is reflected by the target obstacle to form a first reflected signal;

S200: Receive the first reflected signal;

S300: Compare the first reflected signal with a reference threshold corresponding to the current position;

S400: Determine whether the first reflected signal exceeds a reference threshold; and

S500: If yes, perform an obstacle avoidance action, if not, continue to approach the obstacle.

Further, in this embodiment, the reference threshold is set before step S100. The reference threshold includes a preset threshold and a record threshold, the preset threshold is manually configured, and the record threshold is obtained by measuring the usage environment.

Further, in step S100: the ultrasonic ranging device approaches the target obstacle, and at the same time transmits a first ultrasonic signal to the target obstacle, before the first ultrasonic signal is reflected by the target obstacle to form a first reflected signal , also including the step of measuring the usage environment. The purpose of this step is to form and record the second reflection signal at different positions before the actual detection. The second reflection signal contains a plurality of interference signals. Therefore, the second reflected signal can be used as the basis for judging whether there is an obstacle during actual detection.

The specific steps for measuring the use environment include the following steps:

S10: Approaching the target obstacle, simultaneously transmitting a second ultrasonic signal to the target obstacle at different positions and receiving reflection to form a second reflection signal;

S20: Obtain a reflection parameter range by configuring parameters based on the second reflection signal; and

S30: Record the reflection parameter range and the corresponding position to obtain a recording threshold.

It should be noted that the second reflection signal may be an ultrasonic reflection signal without interference factors, but may also be a second reflection signal formed by interference factors including ultrasonic aftershocks and motor interference waves.

It can be understood that, since the second reflection signals are respectively generated at different positions, the second reflection signal is a set of multiple values. In one embodiment, first measure the usage environment: the ultrasonic distance measuring device starts to approach the target obstacle from the position farthest from the target obstacle, and at the same time transmits the second ultrasonic signal to the target obstacle at different positions and A second reflection signal formed by reflection is received. When the moving position of the ultrasonic distance measuring device is 300, the second reflection signal received at this position is 50db, the configuration parameter is ±3, and the reflection parameter range obtained based on the second reflection signal is 47-53db; similarly, At other positions, a different or the same range of reflection parameters may be obtained. After collecting multiple reflection parameter ranges, recording the reflection parameter ranges and corresponding location information, and then forming multiple recording thresholds, the measurement of the usage environment is completed.

When the ultrasonic distance measuring device performs actual detection, the ultrasonic distance measuring device runs to the movement position of 300, and the first reflection signal received is 55db. At this time, the value is compared with the reflection parameter range (47-53db) corresponding to the current position (300) ) are compared, and it is judged that the first reflection signal exceeds the reflection parameter range, that is, an obstacle avoidance action is performed.

To sum up, during the use of the ultrasonic distance measuring device, due to changes in the use environment, the interference factors faced by the ultrasonic distance measuring device include not only ultrasonic aftershocks and motor interference waves, but also changes in the emission of the ultrasonic distance measuring device when it is moving. Inaccurate reception factors caused by the angle of the ultrasonic signal. Therefore, after changing the use environment, implement the above-mentioned steps of learning and measuring the use environment, so that different recording thresholds can be generated, which can then be used as the basis for judging obstacles in actual detection, and realize real-time adjustments for different use environments to achieve optimal results. Obstacle avoidance effect.

This method learns and measures the use environment in advance, and compares the ultrasonic reflection signal with the reference threshold obtained after completing the learning, so as to judge whether there are obstacles. Compared with judging obstacles by distance measurement, this method can eliminate ultrasonic aftershocks and motor interference waves And other influencing factors, and then improve the accuracy of obstacle avoidance.

Specifically, the preset threshold can be connected to the ultrasonic distance measuring device through a serial port communication network so as to realize the artificial configuration of the preset threshold. In this embodiment, the preset threshold value is a set of multiple values, and its data form and function are the same as the record threshold value obtained from learning and measuring the usage environment described above, so it will not be repeated here.

Further, in order to record the threshold more accurately, and then improve the accuracy of judgment during actual measurement, after the step S30: record the reflection parameter range and the corresponding position, and obtain the recording threshold, the following steps are also included:

S40: Repeat multiple round-trip movements at the positions farthest and closest to the target obstacle;

S50: Transmitting a third ultrasonic signal to the target obstacle at different positions and receiving a reflection to form a third reflected signal;

S60: Compare the third reflected signal with a recording threshold corresponding to the current location;

S70: Determine whether the third reflected signal exceeds a recording threshold; and

S80: If yes, reconfigure the parameters, if not, keep recording the threshold.

Further, the step of approaching the target obstacle specifically includes: the ultrasonic distance measuring device is driven by the drive unit to approach the target obstacle.

Specifically, in this implementation, the drive unit is used as a power source for driving the ultrasonic distance measuring device to approach or move away from the target obstacle.

Further, in this embodiment, the drive unit adopts one of a Hall encoder motor, a photoelectric encoder motor, and a stepper motor. In this implementation, the drive unit is a Hall encoder motor.

Further, in the distance measuring and obstacle avoidance method above, the position information of the current position is provided by the drive unit.

Specifically, the Hall encoder motor and the photoelectric encoder motor are a kind of actuators that can output electrical signals of motor speed. The photoelectric encoder is a sensor that converts the mechanical geometric displacement on the output shaft into a pulse digital quantity through photoelectric conversion; the Hall encoder is a sensor that converts the mechanical geometric displacement on the motor output shaft into pulse digital quantity through magnetoelectric conversion. A pulse or digital sensor; and a stepper motor is an actuator that converts a digital pulse signal into an angular displacement with a driver. The aforementioned motor obtains the rotational speed through the encoder or the driver, and the moving distance of the ultrasonic distance measuring device can be obtained through the rotational speed, running time and transmission ratio, and then the current position information of the ultrasonic distance measuring device can be obtained.

Further, in the step S500, the step of performing the obstacle avoidance action includes:

Stop approaching or moving away from the target obstacle.

Please refer to Figure 2, the present application also provides an obstacle avoidance device, which is operated by the above-mentioned ultrasonic ranging obstacle avoidance method, and the obstacle avoidance device includes:

Ultrasonic transmitting module, used for transmitting ultrasonic signal to target obstacle;

Ultrasonic receiving module, used for receiving reflected signal;

a driving module, used to drive the ultrasonic transmitting module and the ultrasonic receiving module to approach the target obstacle;

a storage module for storing the reference threshold; and

The calculation module is used for judging whether the reflected signal exceeds the reference threshold. Since this obstacle avoidance device adopts all the technical solutions of all the embodiments of the above-mentioned ultrasonic ranging and obstacle avoidance method, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, and will not be repeated here.

The present application also provides an ultrasonic ranging and obstacle avoidance device, the device includes a controller and a memory, at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is controlled by the The controller is loaded and executed to realize the above-mentioned method for ultrasonic ranging and obstacle avoidance. Since this ultrasonic ranging and obstacle avoiding device adopts all the technical solutions of all embodiments of the above-mentioned ultrasonic ranging and obstacle avoiding method, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, and will not be repeated here.

Embodiment two

Please refer to Fig. 3-Fig. 11, the present embodiment provides an obstacle avoidance device, the obstacle avoidance device includes an obstacle avoidance body and a drive unit that drives the obstacle avoidance body to rotate, and the obstacle avoidance body is provided with a controller 100 and mounted on The ultrasonic distance measuring device 10 on the obstacle avoidance main body, the ultrasonic distance measuring device 10 and the drive unit are respectively connected with the controller 100, wherein,

The ultrasonic ranging device 10 is used to transmit ultrasonic signals to target obstacles and receive reflected signals;

The drive unit is used to drive the obstacle avoidance body to approach or move away from the target obstacle; and

The controller 100 is used for controlling the operation of the driving unit according to the reflected signal of the ultrasonic distance measuring device.

The obstacle avoidance device detects obstacles through the ultrasonic distance measuring device installed on the pallet. When the ultrasonic distance measuring device receives the reflected signal, the controller judges whether there is an obstacle through the reflected signal. If there is an obstacle, the drive unit drives the pallet Avoid obstacles in time to achieve automatic obstacle avoidance and avoid pinching or structural damage.

Further, in this embodiment, the drive unit includes a motor 54 and a motor drive circuit 200, the output terminal of the controller 100 is connected to the input terminal of the motor drive circuit 200, and the output terminal of the motor drive circuit 200 The terminal is connected to the motor 54, and the controller 100 controls the motor 54 to rotate forward, reverse and stop through the motor drive circuit 200.

Further, the motor drive circuit 200 includes a boost chip 203 , an electromagnetic relay 202 , and a connection socket 201 .

In this embodiment, the electromagnetic relay 202 includes a first electromagnetic relay T1 and a second electromagnetic relay T2, the low-voltage connection end of the coil of the first electromagnetic relay T1 is connected to the first output end of the controller 100, and the second The low-voltage connection end of the coil of the electromagnetic relay T2 is connected to the second output end of the controller 100, the normally closed contacts or normally open contacts of the first electromagnetic relay T1 and the second electromagnetic relay T2 are connected to the power supply, and the first electromagnetic relay T1 and the second electromagnetic relay T2 are connected to the power supply. An electromagnetic relay T1 and a normally open contact or a normally closed contact grounding wire of the second electromagnetic relay T2, the common contact of the first electromagnetic relay T1 is connected to the first terminal of the motor, and the second electromagnetic relay T2 The common contact of the motor is connected to the second terminal of the motor.

In this embodiment, the motor drive circuit 200 further includes a boost chip 203, the first input terminal of the boost chip 203 is connected to the first output terminal of the controller 100, and the second The input end is connected with the second output end of the controller 100, the first output end of the boost chip 203 is connected with the low-voltage connection end of the coil of the first electromagnetic relay, and the second output end of the boost chip 203 is connected with the first output end of the boost chip 203. The low-voltage connection ends of the coils of the two electromagnetic relays are connected.

In this embodiment, the motor drive circuit 200 further includes a connection socket 201, the first input end of the connection socket 201 is connected to the common contact of the first electromagnetic relay T1, and the second input end of the connection socket 201 It is connected with the common contact of the second electromagnetic relay T2, the first output terminal and the second output terminal of the connection socket 201 are respectively connected to the first connection terminal and the second connection terminal of the motor, and the first input terminal of the connection socket 201 A bidirectional TVS tube is connected between the terminal and the second input terminal.

Specifically, please refer to FIG. 5 , the controller 100 adopts a single-chip microcomputer U2. The port VDD of the single-chip microcomputer U2 is connected to a 3.3V power supply; the port VSSA of the single-chip microcomputer U2 is grounded; the port VDDA of the single-chip microcomputer U2 is connected to a 3.3V power supply, and connected to the port VSSA through a capacitor C17; the port VSS of the single-chip microcomputer U2 is grounded; The port VDD of the single-chip microcomputer U2 is connected to a 3.3V power supply, and is connected to the port VSS through a capacitor C23; the port BOOTO of the single-chip microcomputer U2 is grounded. The boost chip is U1, and the port 1B of the boost chip U1 is connected to the port PC14 of the single-chip microcomputer U2; the port 2B of the boost chip U1 is connected to the port PC15 of the single-chip microcomputer U2; the port E of the boost chip U1 is grounded The port COM of the port of the boost chip U1 is connected to a 12V power supply, and grounded through a capacitor C2; the port 2C and port 1C of the boost chip U1 are connected to the electromagnetic relay 202 . With this arrangement, the single-chip microcomputer U2 is connected to the boost chip U1, so that the single-chip microcomputer U2 can control the electromagnetic relay with a larger working current.

Specifically, please refer to FIG. 6, the electromagnetic relay 202 includes a first relay T1 and a second relay T2, the input terminals of the relay T1 and the second relay T2 are connected to the output terminal of the boost chip 203, and the The output terminals of the first relay T1 and the second relay T2 are connected to the input terminals of the connection socket 201 . In this embodiment, port 1 of the first relay T1 is connected to a 12V power supply; port 2 of the first relay T1 is connected to port 1C of the boost chip U1; port 3 of the first relay T1 is connected to a 29V power supply; The port 4 of the first relay T1 is connected to the connection socket 201 and the first terminal of the motor; one end of the port 5 of the first relay T1 is connected to the port 4 of the first relay T1, and the other end is grounded. The port 1 of the second relay T2 is connected to a 12V power supply; the port 2 of the second relay T2 is connected to the port 2C of the boost chip U1; the port 3 of the second relay T2 is connected to a 29V power supply; the second relay Port 4 of T2 is connected to the connection socket 201 and the second terminal of the motor; one end of port 5 of the second relay T2 is connected to port 4 of the second relay T2, and the other end is grounded. In this setting, since the first relay T1 is connected to the 12V power supply, when the port PC14 of the microcontroller U2 outputs a low level, the T1 induction coil has current, so that the switch of the T1 port 4 is closed with the T1 port 3, so that the T1 port 4 is connected to the 29V power supply. And the port 4 of T2 is grounded; when the port PC15 of the single-chip microcomputer U2 outputs a low level, the port PC14 of the single-chip microcomputer U2 outputs a high level, the T2 induction coil has current, the T1 induction coil has no current, and the switch of the T2 port 4 is closed with the T2 port 3 , so that the T2 port 4 is connected to the 29V power supply, and the T1 port 4 is grounded. Therefore, the high and low levels output by the ports PC14 and PC15 of the single-chip microcomputer U2 are different, thereby realizing the forward and reverse control of the motor.

Specifically, the connection socket is PS1. Port 1 and port 5 of the connection socket PS1 are respectively connected to port 4 of the first relay T1 and port 4 of the second relay T2; end. A bidirectional TVS tube 2 is connected between port 1 and port 5 of the connection socket PS1; port 3 of the connection socket PS1 is connected to a 3.3V power supply and grounded through a bidirectional ESD diode 5; port 6 of the socket PS1 is grounded. Since a bidirectional TVS tube 2 is connected between port 1 and port 5 of the connection socket PS1, the positive and negative wires of the motor are isolated and protected.

It is worth noting that, in this embodiment, the bidirectional TVS diode is a transient voltage suppressor diode, which belongs to a kind of electronic component for protection, and can protect electrical equipment from being damaged by voltage spikes introduced by wires. The characteristics of the bidirectional TVS diode It is equivalent to two Zener diodes in reverse series, which can absorb instantaneous large pulse power in two directions and clamp the voltage to a predetermined level; the working principle of the bidirectional ESD diode is the same as that of the bidirectional TVS diode, but the bidirectional ESD diode is mainly used For anti-static, its characteristic is that it absorbs less energy, but its response speed is faster than the aforementioned bidirectional TVS diode.

To sum up, since the single-chip microcomputer U2 is sequentially connected to the boost chip U1, the electromagnetic relay, and the connection socket PS1, the single-chip microcomputer U2 can output pulse signals through the port PC14 and port PC15 to control the forward rotation and reverse rotation of the drive unit.

Further, please refer to FIG. 7 , the ultrasonic distance measuring device 10 is provided with an ultrasonic control circuit, and the input end of the ultrasonic control circuit is connected to the third output end of the controller. Specifically, the ultrasonic control circuit is provided with an ultrasonic interface PS2. The port 1 of the ultrasonic interface PS2 is connected to a 3.3V power supply, and grounded through a bidirectional ESD diode 9; the port 2 of the ultrasonic interface PS2 is connected to the port PB1 of the single-chip microcomputer U2, and a resistor R2 is connected between the port 2 and the port 1; The port 3 of the ultrasonic interface PS2 is connected to the port PB0 of the single-chip microcomputer U2; the port 4 of the ultrasonic interface PS2 is grounded, and a bidirectional ESD diode 7 is connected with the port 3, and a bidirectional ESD diode 6 is connected with the port 2. With this setting, when the port PB0 of the single chip microcomputer U2 sends out a high level, it can wait for the high level output at the port PB1, and the timer can be started as soon as there is an output, and when the port PB1 becomes a low level, the timing can be read. At this time, it is the time t of this ranging. Since s=vt, the ultrasonic propagation speed in the air is a fixed value, so the distance between the ultrasonic device and the target obstacle can be calculated, so as to realize the sending and receiving of the pulse signal through the single-chip microcomputer to obtain the ultrasonic ranging distance.

Further, please refer to FIG. 8 , the obstacle avoidance device further includes a manual control module 500 . The manual control module is provided with a peripheral control circuit, and the output terminal of the peripheral control circuit is connected to the fourth output terminal of the controller 100 . Specifically, the peripheral control circuit includes a manual control interface PS6, the port 1 of the manual control interface PS6 is connected to the port PA9 of the single-chip microcomputer U2; the port 3 of the manual control interface PS6 is connected to the port PA10 of the single-chip microcomputer U2; The port 1 and the port 3 of the control interface PS6 are respectively grounded through the bidirectional ESD diode 5 and the bidirectional ESD diode 4; the port 2 of the manual control interface PS6 is connected to a 5V power supply; the port 4 of the manual control interface PS6 is grounded, and is The bidirectional ESD diode 8 and the bidirectional TVS diode 1 are connected to a 5V power supply. With such setting, the manual control interface can transmit commands to the single-chip microcomputer U2 through the serial port transmission mode.

Further, please refer to FIG. 9 , the obstacle avoidance device further includes a power module 400 , the power module is provided with a DC step-down circuit, and the DC step-down circuit is used to provide the controller 100 with working power. The input terminal of the DC step-down circuit is inputted with a DC 29V power supply, which is stepped down to form a 3.3V power supply, and is connected to the single-chip microcomputer U2 through the inductors L2, L4, and L5, thereby providing the working power of the single-chip microcomputer U2.

In this embodiment, the controller 100 is connected with a storage module 600, and the storage module 600 is a memory, and the memory adopts a single-chip microcomputer memory in the prior art, which will not be repeated here.

In this embodiment, please refer to FIGS. 1-3 , the obstacle avoidance device further includes a seat body 30 and two sets of connecting rod assemblies, one end of which is hinged to both sides of the seat body 30 respectively, The supporting plate 20 is connected between the other ends of the two sets of connecting rod assemblies, and the driving unit is used to drive the connecting rod assemblies to rotate the supporting plate around the seat body. Specifically, the motor 54 is installed in the seat body 30 . The connecting rod assembly includes a connecting rod 40 , a side rod 52 and a driving rod 53 . Wherein, one end of the connecting rod 40 is connected to the supporting plate 20, and the other end is hinged to the seat body 30; the output end of the motor 54 is connected to the driving rod 53, and both sides of the driving rod 53 are fixedly connected to the side rods 52, and the connection One end of the rod 40 near the seat main body is provided with a sliding slot 51 , and the side rod 52 passes through the sliding slot 51 .

Further, the motor 54 is an electric push cylinder.

The specific application principle of this embodiment:

The single-chip microcomputer U2 is sequentially connected to the boost chip U1, the electromagnetic relay, the connection socket PS1, and the motor, so that the single-chip microcomputer U2 can output pulse signals through the ports PC14 and PC15 to control the movement of the drive unit. Because the output end of the motor 54 is connected to the drive rod 53, the output end of the motor 54 moves linearly, driving the connecting rod 40 to fold and shrink towards the seat body 30, and the supporting plate 20 is connected to the end of the connecting rod 40, so that the supporting plate 20 Rotate toward the seat body 30 and retract.

During the retraction process of the pallet 20, the single-chip microcomputer controls the start of the ultrasonic distance measuring device installed under the pallet 20, and continuously sends ultrasonic signals and receives reflected signals. When the port PB0 of the single chip microcomputer U2 sends a high level, it can wait for the high level output at the port PB1, and the timer can be started as soon as there is an output. When the port PB1 receives the reflected signal and becomes low level, the timing can be read. At this time, it is the time t of this ranging. Since s=vt, the propagation speed of ultrasonic waves in the air is a fixed value, so the distance between the ultrasonic device and the target obstacle can be calculated. When the distance is less than the preset threshold, the single-chip microcomputer judges that there is an obstacle. At this time, the single-chip microcomputer controls the motor 54 stops running or reverses, and supporting plate 20 is no longer forcibly retracted, thereby realizing the purpose of avoiding obstacles.

Embodiment three

Please refer to Figures 12-13. This embodiment provides an obstacle avoidance device. The difference between the obstacle avoidance device and the obstacle avoidance device in Embodiment 2 is that this obstacle avoidance device includes an obstacle avoidance body and a device that drives the obstacle avoidance body to move linearly. Drive unit, the main body of the obstacle avoidance is a seat body 30, the ultrasonic distance measuring device 10 is installed on the bottom of the seat body 30, the obstacle avoidance device also includes a chassis 31 connected with the seat body, the The driving unit is used to drive the seat body 30 to move linearly toward the bottom frame 31 .

The specific application principle of this embodiment:

The single-chip microcomputer U2 is sequentially connected to the boost chip U1, the electromagnetic relay, the connection socket PS1, and the motor, so that the single-chip microcomputer U2 can output pulse signals through the ports PC14 and PC15 to control the movement of the motor 54 . Since the output end of the motor 54 is connected to the seat body 30, the output end of the motor 54 moves linearly, driving the seat body 30 to move linearly toward the bottom frame 31, so that the seat body 30 descends.

During the descent of the seat body 30 , the single-chip microcomputer controls the start of the ultrasonic distance measuring device installed under the seat body 30 , and continuously sends ultrasonic signals and receives reflected signals. When the port PB0 of the single chip microcomputer U2 sends a high level, it can wait for the high level output at the port PB1, and the timer can be started as soon as there is an output. When the port PB1 receives the reflected signal and becomes low level, the timing can be read. At this time, it is the time t of this ranging. Since s=vt, the propagation speed of ultrasonic waves in the air is a fixed value, so the distance between the ultrasonic device and the target obstacle can be calculated. When the distance is less than the preset threshold, the single-chip microcomputer judges that there is an obstacle. At this time, the single-chip microcomputer controls the motor 54 stops running or reverses, and the seat body 30 is no longer forcibly retracted, thereby realizing the purpose of avoiding obstacles.

It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present application, the directional indication is only used to explain the relationship between the components in a certain posture. If the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be interpreted as indications or hints Its relative importance or implicitly indicates the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, if "and/or" or "and/or" appears throughout the text, its meaning includes three parallel plans, taking "A and/or B" as an example, including plan A, or plan B, or A and B is a solution that is satisfied at the same time. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present application.

According to the disclosure and teaching of the above specification, those skilled in the art to which the present application belongs may also make changes and modifications to the above implementation manners. Therefore, the present application is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present application should also fall within the protection scope of the claims of the present application. In addition, although some specific terms are used in this specification, these terms are only for convenience of description and do not constitute any limitation to the present application.

Claims (21)

A method for ultrasonic distance measurement and obstacle avoidance, comprising an ultrasonic distance measurement device, wherein the method comprises the steps of: The ultrasonic ranging device approaches the target obstacle, and at the same time transmits a first ultrasonic signal to the target obstacle, and the first ultrasonic signal is reflected by the target obstacle to form a first reflected signal; receiving the first reflected signal; comparing the first reflected signal with a reference threshold corresponding to the current position; judging whether the first reflected signal exceeds a reference threshold; and If yes, perform an obstacle avoidance action, if not, continue to approach the obstacle. The method for ultrasonic ranging and obstacle avoidance according to claim 1, wherein the reference threshold includes a preset threshold and a recording threshold, and the recording threshold is obtained by measuring the usage environment. The ultrasonic ranging and obstacle avoidance method according to claim 2, wherein the ultrasonic ranging device approaches the target obstacle, approaches the target obstacle, and simultaneously transmits the first ultrasonic signal to the target obstacle, further comprising Follow the steps below: The ultrasonic distance measuring device approaches the target obstacle, and at the same time transmits the second ultrasonic signal to the target obstacle at different positions and receives the reflection to form the second reflected signal; Obtaining a reflection parameter range by configuring parameters based on the second reflection signal; and Record the reflection parameter range and the corresponding position to obtain the recording threshold. The ultrasonic ranging and obstacle avoidance method according to claim 3, wherein, after recording the range of reflection parameters and the corresponding position and obtaining the recording threshold, the following steps are further included: Repeat multiple round-trip movements at the farthest and closest positions from the target obstacle; Transmitting third ultrasonic signals to the target obstacle at different positions and receiving reflections to form third reflected signals; Comparing the third reflected signal with a recording threshold corresponding to the current position; judging whether the third reflected signal exceeds a recording threshold; and If so, reconfigure the parameters, if not, keep recording the threshold. The ultrasonic ranging obstacle avoidance method according to claim 1, wherein the step of approaching the target obstacle comprises: The ultrasonic distance measuring device is driven by the drive unit to approach the target obstacle. The method for ultrasonic ranging and obstacle avoidance according to claim 5, wherein the position information of the current position is provided by a drive unit. The method for ultrasonic ranging and obstacle avoidance according to claim 5, wherein the drive unit is one of a Hall encoder motor, a photoelectric encoder motor, and a stepper motor. The ultrasonic ranging obstacle avoidance method according to claim 1, wherein the step of performing an obstacle avoidance action comprises: Stop approaching or moving away from the target obstacle. An obstacle avoidance device, which is operated by the method according to any one of claims 1-8, wherein the obstacle avoidance device comprises: Ultrasonic transmitting module, used for transmitting ultrasonic signal to target obstacle; Ultrasonic receiving module, used for receiving reflected signal; a driving module, used to drive the ultrasonic transmitting module and the ultrasonic receiving module to approach the target obstacle; a storage module for storing the reference threshold; and The calculation module is used for judging whether the reflected signal exceeds the reference threshold. An ultrasonic ranging and obstacle avoidance device, wherein the device includes a controller and a memory, at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is controlled by the controller Loading and executing to realize the ultrasonic ranging and obstacle avoidance method according to any one of claims 1 to 8. An obstacle avoidance device, including an obstacle avoidance main body and a drive unit, the obstacle avoidance main body is provided with a controller and an ultrasonic distance measuring device, and the ultrasonic distance measuring device and the driving unit are respectively connected to the controller, wherein, The ultrasonic ranging device is used to transmit ultrasonic signals to target obstacles and receive reflected signals; The drive unit is used to drive the obstacle avoidance body to approach or move away from the target obstacle; and The controller is used to control the operation of the driving unit according to the reflection signal of the ultrasonic distance measuring device. The obstacle avoidance device according to claim 11, wherein the obstacle avoidance body is a supporting plate, and the ultrasonic distance measuring device is installed on one side of the supporting plate, and further includes a seat body and two sets of connecting rod assemblies, One end of the two sets of connecting rod assemblies is respectively hinged on both sides of the seat body, the support plate is connected between the other ends of the two sets of connecting rod assemblies, and the drive unit is used to drive the connecting rod assembly to make the support plate wrap around the seat The body rotates. The obstacle avoidance device according to claim 11, wherein the obstacle avoidance body is a seat body, the ultrasonic distance measuring device is installed on the bottom of the seat body, and also includes a chassis, and the driving unit is used for The seat body is driven to move linearly in the direction of the underframe. The obstacle avoidance device according to claim 11, wherein the drive unit includes a motor and a motor drive circuit, the output end of the controller is connected to the input end of the motor drive circuit, and the output end of the motor drive circuit Connected with the motor, the controller controls the forward rotation, reverse rotation and stop of the motor through the motor driving circuit. The obstacle avoidance device according to claim 14, wherein the motor drive circuit includes a first electromagnetic relay and a second electromagnetic relay, and the low-voltage connection end of the coil of the first electromagnetic relay is connected to the first output end of the controller , the low-voltage connection end of the coil of the second electromagnetic relay is connected to the second output end of the controller, the normally closed contacts or normally open contacts of the first electromagnetic relay and the second electromagnetic relay are connected to the power supply, and the first The normally open contact or the normally closed contact grounding wire of the electromagnetic relay and the second electromagnetic relay, the common contact of the first electromagnetic relay is connected with the first terminal of the motor, the common contact of the second electromagnetic relay is connected with the The second terminal connection of the motor. The obstacle avoidance device according to claim 15, wherein the motor drive circuit further comprises a boost chip, the first input terminal of the boost chip is connected to the first output terminal of the controller, and the boost chip The second input end is connected with the second output end of the controller, the first output end of the boost chip is connected with the low voltage connection end of the coil of the first electromagnetic relay, the second output end of the boost chip is connected with the second The low-voltage connection end of the coil of the electromagnetic relay is connected. The obstacle avoidance device according to claim 16, wherein the motor driving circuit further comprises a connection socket, the first input terminal of the connection socket is connected to the common contact of the first electromagnetic relay, and the second connection socket of the connection socket The input terminal is connected to the common contact of the second electromagnetic relay, the first output terminal and the second output terminal of the connection socket are respectively connected to the first connection terminal and the second connection terminal of the motor, and the first input terminal of the connection socket , and a bidirectional TVS tube is connected between the second input terminals. The obstacle avoidance device according to claim 17, wherein the connection socket is further provided with a grounding terminal. The obstacle avoidance device according to claim 11, wherein the ultrasonic distance measuring device is provided with an ultrasonic control circuit, and an input end of the ultrasonic control circuit is connected to a third output end of the controller. The obstacle avoidance device according to claim 11, wherein the obstacle avoidance device further comprises a power module, the power module is provided with a DC step-down circuit, the DC step-down circuit is connected to the controller, and the DC step-down circuit The circuit is used to provide the working power of the controller. The obstacle avoidance device according to claim 11, wherein the obstacle avoidance device further comprises a manual control module, the manual control module is provided with a peripheral control circuit, and the output terminal of the peripheral control circuit is connected to the controller The fourth output terminal connection.

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