Service robot is infra-red avoid barrier sensor installs positional analysis

  • Time:
  • Click:131
  • source:BAGANZ CNC Machining
Introduction: Service robot is in when the space of guest room of domestic residence, hotel, office, interior space such as meeting place is used, should use avoid barrier sensor, use normally infra-red, ultrasonic, lidar, binocular inspect a kind when become aware 4 kinds of sensor are medium or a variety of undertaking avoiding barrier is operated, the article basically will be analysed infra-red avoid the installation position of barrier sensor. Infra-red avoid barrier sensor fundamental: Use the reflection property of the object. Inside certain limits, if do not have fraise, fire the infrared ray that go out, because transmit a distance further and wear off, disappear finally. If have fraise, infrared ray encounters fraise, be reflexed to arrive at sensor to receive a head. Sensor detects this one signal, can affirm ahead has fraise, present sheet piece machine, odd a machine undertake a series of processing analysis, coordinate two rounds of works that serve a robot, finish avoid fraise action. Infra-red a distance that avoids barrier sensor is to be round of type robot to design only is adjustable type avoids barrier sensor. Its have a pair of infrared ray to blast off with receive a valve, transmitting tube fires the infrared ray that gives certain frequency, should detect direction encounters fraise (reflection face) when, infrared ray is reflexed come back to be received to be in charge of receive, right now indicator light shines, after be being handled through circuit, signal outputs interface to output digital signal, can adjust through potentiometer knob check range finding leaves, be apart from 2 ～ 40cm effectively, working voltage is 3. 3V - 5V, as a result of wide extensive of working voltage limits, in wave motion of power source voltage bigger case falls to still can stabilize the job, suit a variety of sheet piece clique of controller of machine, Arduino, bramble is used, installation can feel to the robot the change that measures surroundings. Sensor of a kind of typical infra-red wall barrier is infra-red avoid barrier sensor works principle: Red line receives 5V, yellow receives signal, green GND receives power source negative pole or sheet piece on machine logically. Ahead is trouble-free output tall n, the obstacle outputs a mouth (yellow) n can become low n from tall n (0) . Rear graph has a potentiometer to be able to adjust the check range finding of the obstacle leaves. OK in circuit design upright Huang Xian adds reexport to pull resistor 10K to 5V, receive sheet again piece machine detect, the meeting is stabler, odd a machine detect can use exterior hardware to interrupt INT0 INT1 to wait will come true. What install on service robot noumenon currently is infra-red avoid barrier sensor is passed according to high school low 3 groups undertake installing, like the commonnest installation height is low a 80mm, medium a 480mm, exalted 780mm. This installs high set and do not have sufficient level and basis, outside in applying actually, appearing to make amorous Kuang Gong, avoid because barrier sensor is installed too too tall, low or density is brought about not quite cannot ascertain arrives the fraise around, the influence serves the action of the robot and be opposite thereby may environment and man-made are become destroy, this is infra-red avoid barrier sensor installs a method impertinent those who cause, be badly in need of a basis environmental characteristic especially fraise characteristic research is more appropriate infra-red avoid the deploy plan of barrier sensor. Limited company of science and technology of 0 software of Guangzhou (robot 0) in the process of research and development that serves a robot in healthy provide for the aged, undertook many true view is measured with setting imitate, basic summary gives the infra-red sensor that the robot of Wu of interior space to be taken orally such as the residence needs to install height, these experience also are used in Ha Shiji health to serve robot noumenon to go up. We are in research and development, basis furniture designs relevant national level and standard, arrange and sum up the height of common furniture, analyse furniture especially bulgy content if armrest of edge of desk edge, chair face and back of a chair, tea table, sofa and back of a chair, bedside, because these exceed bottom and bulgy position on vertical plane,be the easiest to the service robot shift brings a barrier. The dimension of the height that is concerned furniture below explains: 1, desk kind standard of furniture height size can have 700mm, 720mm, 740mm, 760mm 4 norms; 2, chair stool kind the seat surface height of furniture can have ｍ of 400mm, 420mm, 440m 3 norms. 3, bed edge generally speaking bed edge height with 45 centimeters advisable; Cotton-padded mattress face is apart from ground height to calculate, the standard is 46 ～ 50 centimeters; 4, of sofa general tall: 350 - 420mm; Armrest is tall 560 - 600mm; Back of single person type is tall: 700 - 900mm. 5, tea table: Height is 350 - 500mm. Indoors other furniture, include to keep basically on vertical plane cabinet, case, bookshelf consistent without clear bulgy position, service robot is so infra-red the interval that sensor measures in any height is consistent, a when want any height only infra-red sensor obtains data to be able to arrive on behalf of perception this one fraise, so, this kind of furniture that has level off to establish a range need not consider infra-red avoid the new installation method of barrier sensor. Home appliance, appear possibly in a few home appliance of accessory of method of service robot shift especially, like freezer, washing machine, water machine, also have level establish a range, also need not consider Lv so infra-red avoid the new installation method of barrier sensor. Because the desktop plate thickness of furniture has 3 main measure such as 16mm, 18mm, 25mm, the ply of the toughened glass of tea table is 10mm above, normally 12mm. Accordingly, I am from furniture surface (furniture height apogee) be down 10mm limits can hit the bulgy area that comes up against furniture, this also can make a service the robot is infra-red the important basis that avoids barrier sensor installs height. According to the feature of furniture, we arrange more sensitive to serving a robot to act a few height: Height of furniture ／ bulgy face is low medium a 80mm350mm400mm440mm500mm of tea table of 80mm350mm400mm420mm of sofa of 80mm450mm500mm of bed of 80mm400mm420mm440mm of chair of exalted table 80mm700mm720mm740mm760mm is bulgy protruding of 80mm350mm of face height collect, 400mm, 420mm, 440mm, 500mm700mm, 720mm, 740mm760mm edge appears personally apogee downward 10mm can be explored, from on the watch can obtain a service robot installation is infra-red those who avoid the obstacle serves a robot is low, in, exalted. Had the height of installation, still need farther design infra-red avoid the layout of obstacle sensor. Avoid to obtain first-rate barrier effect, our altogether uses 24 infra-red avoid barrier sensor, among them the front installs 12, every flank installs two flank 3 add up to 6, 6 are installed from the back. Low infra-red avoid barrier sensor distributings in 80mm height installation, among them openly deploy 2, two flank every flank 1, rear 2. In infra-red avoid barrier sensor differs to distributing highly in 5 installation, it is 340mm, 390mm, 420mm, 430mm, 490mm respectively. Among them the front asks to have 5 infra-red avoid barrier sensor is in all deploy installs 5 height, flank installs infra-red avoid barrier sensor, height is 420mm; Back-mounted 3 infra-red avoid barrier sensor, height is 340mm, 390mm, 420mm respectively. Exalted infra-red avoid barrier sensor differs to distributing highly in 4 installation, it is 690mm, 720mm, 730mm, 750mm respectively. Among them the front asks to have 4 infra-red avoid barrier sensor is in all deploy installs 4 height, flank installs infra-red avoid barrier sensor, height is 720mm; Back-mounted two infra-red avoid barrier sensor, height is 690mm, 730mm respectively. In this case, infra-red avoid barrier sensor uses NPN photoelectricity switch; Outputting condition is 0, 1, namely the tall n in digital circuit and low n, detect the target is low n output, whack is tall n output, output is extra a 1K controls on pull resistor to be able to receive sheet repeatedly piece on machine IO mouth. Because designed 24 infra-red avoid barrier sensor, accordingly, corresponding need is odd a machine IO amount it is 24. This kind installs the position and installation method, the photograph is infra-red to showing some avoid barrier feels implement it is important that installation method undertook improve: In the light of furniture bulgy object height spends the installation place that have to optimize, used low in install area 3 high in all 24 groups infra-red avoid barrier sensor, before distributinging installation is serving a robot, two side and from the back. Let infra-red avoid barrier sensor always can scan furniture protruding appears personally, let serve a robot to be able to undertake avoiding effectively letting of all kinds furniture thereby, apply to a family to serve robot, business to wait for robot of of all kinds service with service robot, robot sending eat. CNC Milling