Service robots use obstacle-avoidance sensors when used in indoor spaces such as family homes, hotel rooms, office spaces, clubs, etc., usually using one or more of four sensors: infrared, ultrasonic, laser radar, and binocular vision. For obstacle avoidance operation, this paper will mainly analyze the installation position of the infrared obstacle avoidance sensor.
The basic principle of infrared obstacle avoidance sensor: the use of the reflective properties of the object. Within a certain range, if there are no obstacles, the infrared rays emitted will gradually weaken because of the farther distance, and eventually disappear. If there is an obstacle, the infrared rays encounter an obstacle and are reflected to reach the sensor receiving head. When the sensor detects this signal, it can confirm that there is an obstacle in front of it, and send it to the MCU. The MCU performs a series of processing and analysis, coordinates the two-wheel work of the service robot, and completes the obstacle avoidance action.
The infrared obstacle avoidance sensor is a distance-adjustable obstacle avoidance sensor designed for wheeled robots. The utility model has a pair of infrared emitting and receiving tubes, and the transmitting tube emits infrared rays of a certain frequency. When the detecting direction encounters an obstacle (reflecting surface), the infrared rays are reflected back and received by the receiving tube, and the indicator light is illuminated, after the circuit processing The signal output interface outputs a digital signal, and the detection distance can be adjusted by the potentiometer knob. The effective distance is 2 to 40 cm, and the working voltage is 3.3V-5V. Due to the wide operating voltage range, the power supply voltage fluctuation is still stable. Work, suitable for a variety of microcontrollers, Arduino controllers, Raspberry Pi use, installed on the robot to sense changes in the surrounding environment.
A typical infrared barrier sensor
The working principle of the infrared obstacle avoidance sensor: the red line is connected to 5V, the yellow signal is connected, and the green GND is connected to the negative pole of the power supply or the logic ground on the single chip microcomputer. The front accessibility output level is high, and the obstructed output port (yellow) level changes from high level to low level (0). The rear view has a potentiometer that adjusts the detection distance of the obstacle. In the circuit design, the output yellow line can be added to the pull-up resistor 10K to 5V, and then connected to the single-chip detection, it will be relatively stable, and the single-chip detection can be realized by using the external hardware interrupt INT0 INT1.
The infrared obstacle avoidance sensor currently installed on the service robot body is installed in three groups of high, medium and low. For example, the most common installation height is low 80mm, medium position 480mm, and high position 780mm. There is not enough standard and basis for the setting of the installation height. In practice, there are many situations in which the infrared obstacle avoidance sensor cannot detect the nearby obstacles due to the installation too high, too low or insufficient density, thus affecting the service robot. Actions and damage to the environment and people may be caused by improper installation methods of infrared obstacle avoidance sensors. It is urgent to study the deployment scheme of more suitable infrared obstacle avoidance sensors according to the characteristics of the environment and especially the obstacles.
Promotion Power Station for EU
Promotion Power Station For Eu,Portable Power Station,Solar Power Station,Power Station For Laptop
Guangzhou Fengjiu New Energy Technology Co.,Ltd , https://www.flashfishbatteries.com