CN106625685A - Multi-path inspection anti-collision control system for industrial robot - Google Patents
Multi-path inspection anti-collision control system for industrial robot Download PDFInfo
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- CN106625685A CN106625685A CN201710146739.7A CN201710146739A CN106625685A CN 106625685 A CN106625685 A CN 106625685A CN 201710146739 A CN201710146739 A CN 201710146739A CN 106625685 A CN106625685 A CN 106625685A
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- microcontroller
- ultrasonic sensor
- module
- communication module
- output end
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39082—Collision, real time collision avoidance
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a multi-path inspection anti-collision control system for an industrial robot. The system comprises a multi-path inspection instrument and a microcontroller. The input end of the multi-path inspection instrument is connected with a front ultrasonic sensor, a rear ultrasonic sensor, a left ultrasonic sensor, a right ultrasonic sensor and an upper ultrasonic sensor. The output end of the multi-path inspection instrument is connected with the input end of the microcontroller. The input end of the microcontroller is further connected with a video acquisition module. The output end of the microcontroller is connected with a driving module and a storage module. The output end of the driving module is connected with a traveling mechanism. The microcontroller is also connected with a communication module connected with a monitoring center. Obstacle information in corresponding directions is convenient to detect by arranging the ultrasonic sensors; the microcontroller controls the traveling mechanism to change traveling paths through the driving modules so as to avoid obstacles; the microcontroller interacts with the monitoring center through the communication module, and the inspection efficiency and the automation level of on-site management are improved.
Description
Technical field
The invention belongs to Industrial Robot Technology field, the multi channel testing anticollision control of more particularly to a kind of industrial robot
System processed.
Background technology
Limited by the complexity and technological means of patrolling and examining work, domestic and international industry spot carries out generally being made during equipment routing inspection
With manual patrol, the work pattern of hand-kept.There is high labor intensive, inefficiency, detection quality in manual inspection pattern
Dispersion, management cost height etc. are substantially not enough；And, the data of manual inspection also cannot accurately and timely be entered into Surveillance center,
Prevent information system management from reaching the first operation field, have impact on automation and the intelligent level of industry spot management.
With the development of robot technology and artificial intelligence technology, replace manually carrying out industry now using mobile robot
Field is patrolled and examined and is possibly realized.
The content of the invention
It is an object of the invention to provide a kind of industrial robot multi channel testing anti-collision control system, by the system
Using solving existing problem.
To solve above-mentioned technical problem, the present invention is achieved by the following technical solutions：
The present invention is a kind of industrial robot multi channel testing anti-collision control system, including multiplex inspector and microcontroller
Device, the input of the multiplex inspector be connected with front ultrasonic sensor, rear ultrasonic sensor, left ultrasonic sensor,
Right ultrasonic sensor, upper ultrasonic sensor；The output end of the multiplex inspector is connected with the input of microcontroller；Institute
The input for stating microcontroller is also associated with video acquisition module；The output end of the microcontroller is connected with drive module and deposits
Storage module；The output end of the drive module is connected with walking mechanism；The microcontroller is also associated with communication module；It is described logical
News module is connected with Surveillance center；It is between the microcontroller and communication module and between communication module and Surveillance center
Interactive correspondence mode.
Further, the front ultrasonic sensor, rear ultrasonic sensor, left ultrasonic sensor, right ultrasonic wave are passed
Whether sensor, upper ultrasonic sensor have barrier for the front of detection robot, rear, left, right, top respectively,
And by the detection of obstacles information real-time Transmission of all directions to multiplex inspector；Barrier of the multiplex inspector to all directions
Hinder quality testing measurement information to be analyzed process, once certain angle detecting has barrier, then again send out direction detection of obstacles information
Microcontroller is given, then walking mechanism is controlled by drive module and is changed according to direction detection of obstacles information by microcontroller
Become walking path.
Further, the video acquisition module is used for collection surrounding video information and video information is sent to microcontroller
Device, microcontroller is again sent video information to memory module storage, while being sent to Surveillance center by communication module；It is described
Surveillance center accesses microcontroller by communication module, and the video information or Jing drive modules stored in memory module is transferred then
Control walking mechanism changes walking path.
The invention has the advantages that：
The present invention is easy to detect respective party by arranging ultrasonic sensor in front, rear, left, right and top
To obstacle information；Process is analyzed to the obstacle information of all directions by multiplex inspector, detection is had into obstacle
The information transmission of thing controls walking mechanism and changes walking path, to avoid by microcontroller to microcontroller by drive module
Barrier, improves the intellectuality patrolled and examined；By arranging video acquisition module, it is easy to carry out video acquisition to industry spot concurrent
Microcontroller is delivered to, then microcontroller is interacted by communication module with Surveillance center, be conducive to the real-time of the information of patrolling and examining
Passback and interaction, improve the automatization level for patrolling and examining the efficiency and field management of work.
Certainly, the arbitrary product for implementing the present invention it is not absolutely required to while reaching all the above advantage.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, use required for describing to embodiment below
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, can be attached to obtain others according to these accompanying drawings
Figure.
Fig. 1 is a kind of composition frame chart of industrial robot multi channel testing anti-collision control system of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Refer to shown in Fig. 1, it is of the invention to patrol for a kind of industrial robot multi channel testing anti-collision control system, including multichannel
Inspection instrument and microcontroller, the input of multiplex inspector is connected with front ultrasonic sensor, rear ultrasonic sensor, left ultrasonic wave
Sensor, right ultrasonic sensor, upper ultrasonic sensor, the output end of multiplex inspector and the input phase of microcontroller
Even, the input of microcontroller is also associated with video acquisition module, and the output end of microcontroller is connected with drive module and storage
Module, the output end of drive module is connected with walking mechanism, and microcontroller is also associated with communication module, and communication module is connected with prison
Control center, is interactive correspondence mode between microcontroller and communication module and between communication module and Surveillance center.
Wherein, front ultrasonic sensor, rear ultrasonic sensor, left ultrasonic sensor, right ultrasonic sensor, upper super
Sonic sensor is used to detect whether the front of robot, rear, left, right, top have barrier respectively, if there is obstacle
Thing, and by the detection of obstacles information real-time Transmission of all directions to multiplex inspector, barrier of the multiplex inspector to all directions
Hinder quality testing measurement information to be analyzed process, once certain angle detecting has barrier, then again send out direction detection of obstacles information
Microcontroller is given, microcontroller controls walking mechanism and change row according to direction detection of obstacles information by drive module
Path is walked, to avoid the barrier of respective direction.
Wherein, video acquisition module is installed on before robot head, and robot head can revolve relative to robot body
Turn, video information and video information is sent to microcontroller around collection then, microcontroller sends video information to depositing
Storage module storage, while being sent to Surveillance center by communication module, the monitoring personnel positioned at Surveillance center passes through Surveillance center
Obtain production scene patrols and examines picture；Surveillance center accesses microcontroller by communication module, transfers in memory module then and deposits
The video information of storage or Jing drive modules control walking mechanism change walking path.
Wherein, front ultrasonic sensor, rear ultrasonic sensor, left ultrasonic sensor, right ultrasonic sensor, upper super
Sonic sensor is using the UNAM1816903 sonacs of Switzerland；Multiplex inspector adopts TDAM7016-24 intelligent multichannels
Logging；Microcontroller adopts STM32F103RBT6 single-chip microcomputers；Video acquisition module adopts camera；Communication module is wireless
Communication network；Surveillance center is one or more industrial computer.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Specific features, structure, material or the feature described with reference to the embodiment or example is contained at least one enforcement of the present invention
In example or example.In this manual, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.
And, the specific features of description, structure, material or feature can be in any one or more embodiments or example closing
Suitable mode is combined.
Finally it should be noted that present invention disclosed above preferred embodiment is only intended to help illustrates the present invention.It is excellent
Embodiment is selected not have all of details of detailed descriptionthe, it is only described specific embodiment also not limit the invention.Obviously, root
According to the content of this specification, can make many modifications and variations.These embodiments are chosen and specifically described to this specification, be in order to
The principle and practical application of the present invention are preferably explained, so that skilled artisan can be best understood by and utilize
The present invention.The present invention is only limited by claims and its four corner and equivalent.
Claims (3)
1. a kind of industrial robot multi channel testing anti-collision control system, it is characterised in that：Including multiplex inspector and microcontroller
Device, the input of the multiplex inspector be connected with front ultrasonic sensor, rear ultrasonic sensor, left ultrasonic sensor,
Right ultrasonic sensor, upper ultrasonic sensor；The output end of the multiplex inspector is connected with the input of microcontroller；Institute
The input for stating microcontroller is also associated with video acquisition module；The output end of the microcontroller is connected with drive module and deposits
Storage module；The output end of the drive module is connected with walking mechanism；The microcontroller is also associated with communication module；It is described logical
News module is connected with Surveillance center；It is between the microcontroller and communication module and between communication module and Surveillance center
Interactive correspondence mode.
2. a kind of industrial robot multi channel testing anti-collision control system according to claim 1, it is characterised in that：It is described
Front ultrasonic sensor, rear ultrasonic sensor, left ultrasonic sensor, right ultrasonic sensor, upper ultrasonic sensor are used
In detecting whether the front of robot, rear, left, right, top have a barrier respectively, and by the obstacle quality testing of all directions
Measurement information real-time Transmission is to multiplex inspector；The multiplex inspector is analyzed place to the detection of obstacles information of all directions
Reason, once certain angle detecting has barrier, is then then forwarded to microcontroller by direction detection of obstacles information, then by microcontroller
Device controls walking mechanism and changes walking path according to direction detection of obstacles information by drive module.
3. a kind of industrial robot multi channel testing anti-collision control system according to claim 1, it is characterised in that：It is described
Video acquisition module is used for collection surrounding video information and video information is sent to microcontroller, and microcontroller again believes video
Breath is sent to memory module storage, while being sent to Surveillance center by communication module；The Surveillance center passes through communication module
Microcontroller is accessed, the video information or the control walking mechanism change walking of Jing drive modules stored in memory module is transferred then
Path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710146739.7A CN106625685A (en) | 2017-03-13 | 2017-03-13 | Multi-path inspection anti-collision control system for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710146739.7A CN106625685A (en) | 2017-03-13 | 2017-03-13 | Multi-path inspection anti-collision control system for industrial robot |
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| Publication Number | Publication Date |
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| CN106625685A true CN106625685A (en) | 2017-05-10 |
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| CN201710146739.7A Pending CN106625685A (en) | 2017-03-13 | 2017-03-13 | Multi-path inspection anti-collision control system for industrial robot |
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Citations (7)
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|---|---|---|---|---|
| CN202153615U (en) * | 2011-07-12 | 2012-02-29 | 重庆大学 | Robot for transformer station device inspection tour |
| CN202178514U (en) * | 2011-07-30 | 2012-03-28 | 山东鲁能智能技术有限公司 | Safety protection system of transformer station intelligent inspection robot |
| CN104991488A (en) * | 2015-05-27 | 2015-10-21 | 华北电力大学（保定） | Intelligent robot inspection system used for cable tunnel |
| CN205387128U (en) * | 2016-01-08 | 2016-07-20 | 芜湖赛宝信息产业技术研究院有限公司 | Remove carrier device with barrier alarm system is kept away to distributing type |
| CN106020235A (en) * | 2016-08-02 | 2016-10-12 | 安徽朗巴智能科技有限公司 | Unmanned aerial vehicle cooperative system for forest protection |
| CN106251272A (en) * | 2016-08-02 | 2016-12-21 | 安徽朗巴智能科技有限公司 | A kind of unmanned plane urban safety cruising inspection system |
| EP3113055A1 (en) * | 2012-01-25 | 2017-01-04 | Omron Adept Technologies, Inc. | Negative obstacle avoidance system for a mobile robot |
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2017
- 2017-03-13 CN CN201710146739.7A patent/CN106625685A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202153615U (en) * | 2011-07-12 | 2012-02-29 | 重庆大学 | Robot for transformer station device inspection tour |
| CN202178514U (en) * | 2011-07-30 | 2012-03-28 | 山东鲁能智能技术有限公司 | Safety protection system of transformer station intelligent inspection robot |
| EP3113055A1 (en) * | 2012-01-25 | 2017-01-04 | Omron Adept Technologies, Inc. | Negative obstacle avoidance system for a mobile robot |
| CN104991488A (en) * | 2015-05-27 | 2015-10-21 | 华北电力大学（保定） | Intelligent robot inspection system used for cable tunnel |
| CN205387128U (en) * | 2016-01-08 | 2016-07-20 | 芜湖赛宝信息产业技术研究院有限公司 | Remove carrier device with barrier alarm system is kept away to distributing type |
| CN106020235A (en) * | 2016-08-02 | 2016-10-12 | 安徽朗巴智能科技有限公司 | Unmanned aerial vehicle cooperative system for forest protection |
| CN106251272A (en) * | 2016-08-02 | 2016-12-21 | 安徽朗巴智能科技有限公司 | A kind of unmanned plane urban safety cruising inspection system |
Non-Patent Citations (1)
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| 左敏: "《机器人与软件人平行进化系统及其应用》", 31 July 2012 * |
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Address after: 230088 Embedded R&D Building 409, 5089 Wangjiangxi Road, Hefei High-tech Zone, Anhui Province Applicant after: Anhui Lang Ba Intelligent Technology Co., Ltd. Address before: 230088 Room 201, D8 Building, Innovation Industrial Park, 800 Wangjiangxi Road, Hefei High-tech Zone, Anhui Province Applicant before: Anhui Lang Ba Intelligent Technology Co., Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170510 |