CN108436950A - A kind of Autonomous Obstacle Negotiating Inspection Robot controller mutually started based on Hot Spare - Google Patents
A kind of Autonomous Obstacle Negotiating Inspection Robot controller mutually started based on Hot Spare Download PDFInfo
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- CN108436950A CN108436950A CN201810370361.3A CN201810370361A CN108436950A CN 108436950 A CN108436950 A CN 108436950A CN 201810370361 A CN201810370361 A CN 201810370361A CN 108436950 A CN108436950 A CN 108436950A
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- relay
- coupler
- photo
- microcontroller
- triode
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of Autonomous Obstacle Negotiating Inspection Robot controllers mutually started based on Hot Spare, belong to crusing robot technical field.It includes the first microcontroller and the second microcontroller, and the first microcontroller is connected with first control circuit, and the second microcontroller is connected with second control circuit；The first control circuit includes the first LED lamp bead, the first photo-coupler and the first relay, the cathode output end of first photo-coupler is connected with the first triode, first triode is connected with the cathode of the coil of the first relay, and the normally-closed contact of the first relay is connected with the power supply of the first microcontroller；Second control circuit is identical as first control circuit structure, including the second LED lamp bead, the second photo-coupler and the second relay；The normally-closed contact of first relay and the normally-closed contact of the second relay are connected.Crusing robot non-stop run can be achieved in the present invention, improves the continuity of system operation, has ensured the safe and reliable operation of crusing robot control system.
Description
Technical field
The present invention relates to a kind of Autonomous Obstacle Negotiating Inspection Robot controllers mutually started based on Hot Spare, belong to inspection machine
People's technical field.
Background technology
The working environment of HV Transmission Line Routing Inspection robot is poor, when crusing robot is crashed by strong electromagnetic, heat
Backup mutually starts just the minimum guarantee for becoming crusing robot reliability control system, if the reliability that Hot Spare mutually starts
The safety for leading to crusing robot control system can not be ensured " crash " or " program fleet " occur in control system by difference
Phenomena such as when, system will be unable to continue normal operation.
Invention content
In view of the above defects of the prior art, it is independently got over based on what Hot Spare mutually started the present invention provides a kind of
Hinder crusing robot controller, " crash " or " journey easily occurs in the control system that can solve HV Transmission Line Routing Inspection robot
Sequence, which is run, to fly " the problem of.
The present invention is achieved by the following technical solution：A kind of active obstacle survey monitor mutually started based on Hot Spare
Device people's controller, including the first microcontroller and the second microcontroller, the first microcontroller are connected with first control circuit, and second
Microcontroller is connected with second control circuit；The first control circuit includes the first LED lamp bead, the first photo-coupler and first
Relay, the first LED lamp bead are connected with the input terminal of the first photo-coupler, the cathode output end of the first photo-coupler and first after
The anode of the coil of electric appliance is connected, and the cathode output end of the first photo-coupler is connected with the first triode, the first triode and the
The cathode of the coil of one relay is connected, the normally-closed contact of first relay and the power supply phase of the first microcontroller
Even；The second control circuit includes the second LED lamp bead, the second photo-coupler and the second relay, the second LED lamp bead and second
The input terminal of photo-coupler is connected, and the cathode output end of the second photo-coupler is connected with the anode of the coil of the second relay, the
The cathode output end of two photo-couplers is connected with the second triode, the cathode phase of the second triode and the coil of the second relay
Even, the normally-closed contact of second relay is connected with the power supply of the second microcontroller；First relay it is normally closed
Contact is connected with the normally-closed contact of the second relay.
Preferably, first microcontroller is connected with the cathode of the first LED lamp bead, the second microcontroller and the 2nd LED
The cathode of lamp bead is connected.
Preferably, the base stage phase that the cathode output end of first photo-coupler passes through first resistor and the first triode
Even, the collector of the first triode is connected with the cathode of the coil of the first relay, the emitter ground connection of the first triode.
Preferably, the base stage phase that the cathode output end of second photo-coupler passes through second resistance and the second triode
Even, the collector of the second triode is connected with the cathode of the coil of the second relay, the emitter ground connection of the second triode.
Preferably, is connected between the cathode and the cathode output end of the first photo-coupler of first relay coil
One diode；It is connected with the two or two pole between the cathode and the cathode output end of the second photo-coupler of second relay coil
Pipe.
Preferably, first microcontroller and the second microcontroller connect 3.3V voltages, the first photo-coupler and second
Photo-coupler connects 3.3V voltages, and the first relay and the second relay connect 5V voltages.
Preferably, the model of first microcontroller and the second microcontroller is STM32F407ZGT6, the first optocoupler
Clutch and the model of the second photo-coupler are PC817, and the model of the first triode and the second triode is S9014, and first
The model of diode and the second diode is FR107, and the first LED lamp bead and the second LED lamp bead are 3mm specification light-emitting diodes
Pipe.
In crusing robot normal operation, the first microcontroller and the second microcontroller are both powered up work, the first micro-control
Device processed is in running order, and the second microcontroller and the first microcontroller keep communications status and monitor in real time, when robot by
Strong electromagnetic causes the first microcontroller to crash or when program fleet, and it is micro- by serial communication to be sent to second by computer
Controller instructs, while corresponding first relay normally closed contact of the first microcontroller disconnects, then the first microcontroller dead electricity
The control of the first relay is lost, the second microcontroller accepts the processing of the first microcontroller, realizes the steady of robot control system
Fixed operation.Therefore, between the Autonomous Obstacle Negotiating Inspection Robot controller described herein mutually started based on Hot Spare can be realized not
Disconnected work, improves the continuity of system operation, has ensured the safe and reliable operation of crusing robot control system.
Description of the drawings
Fig. 1 is the electricity of the Autonomous Obstacle Negotiating Inspection Robot controller mutually started based on Hot Spare described in the embodiment of the present invention
Line structure figure；
Specific implementation mode
Below by non-limiting embodiment and in conjunction with attached drawing, the present invention is further illustrated：
As shown in Figure 1, an embodiment of the present invention provides a kind of Autonomous Obstacle Negotiating Inspection Robots mutually started based on Hot Spare
Controller, including the first microcontroller CPU1 and the second microcontroller CPU2, the first microcontroller CPU1 are connected with the first control
Circuit, the second microcontroller CPU2 are connected with second control circuit；First control circuit includes the first LED lamp bead D1, the first light
Coupler U1 and the first relay K1, the first microcontroller CPU1 are connected with the cathode of the first LED lamp bead D1, the first LED lamp bead
D1 is connected with the input terminal of the first photo-coupler U1, the coil of the cathode output end of the first photo-coupler U1 and the first relay K1
Anode be connected, the cathode output end of the first photo-coupler U1 is connected by first resistor R1 with the base stage of the first triode Q1,
The collector of first triode Q1 is connected with the cathode of the coil of the first relay K1, the emitter ground connection of the first triode Q1,
It is connected with the first diode D3 between the cathode and the cathode output end of the first photo-coupler U1 of first relay K1 coils.First
The normally-closed contact of relay K1 is connected with the power supply of the first microcontroller CPU1.
Second control circuit includes the second LED lamp bead D2, the second photo-coupler U2 and the second relay K2, the second microcontroller
Device CPU2 is connected with the cathode of the second LED lamp bead D2, and the second LED lamp bead D2 is connected with the input terminal of the second photo-coupler U2, the
The cathode output end of two photo-coupler U2 is connected with the anode of the coil of the second relay K2, and the cathode of the second photo-coupler U2 is defeated
Outlet is connected by second resistance R2 with the base stage of the second triode Q2, the collector of the second triode Q2 and the second relay K2
The cathode of coil be connected, the emitter of the second triode Q2 ground connection.The cathode and the second optical coupling of second relay K2 coils
The second diode D4 is connected between the cathode output end of device U2.The normally-closed contact of second relay K2 with the second microcontroller
The power supply of CPU2 is connected；The normally-closed contact of the normally-closed contact of first relay K1 and the second relay K2 are connected.
First microcontroller and the second microcontroller connect 3.3V voltages, and the first photo-coupler and the second photo-coupler connect
3.3V voltages, the first relay and the second relay connect 5V voltages.
The model of first microcontroller and the second microcontroller is STM32F407ZGT6, the first photo-coupler and second
The model of photo-coupler is PC817, and the model of the first triode and the second triode is S9014, the first diode and
The model of two diodes is FR107, and the first LED lamp bead and the second LED lamp bead are 3mm specification light emitting diodes.
The work of the Autonomous Obstacle Negotiating Inspection Robot controller provided in an embodiment of the present invention mutually started based on Hot Spare is former
Reason is：
In crusing robot normal operation, the first microcontroller CPU1 and the second microcontroller CPU2 are both powered up work,
First microcontroller CPU1 is in running order, and the second microcontroller CPU2 and the first microcontroller keep communications status and real-time
Monitoring passes through serial ports when robot is led to the crash of the first microcontroller or program fleet by strong electromagnetic by computer
Communication is sent to the second micro-controller instructions, while corresponding first relay normally closed contact of the first microcontroller disconnects, then
First microcontroller dead electricity loses the control to the first relay, and the second microcontroller is accepted the processing of the first microcontroller, realized
The stable operation of robot control system.
The foregoing is merely the specific implementation modes of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.It is any made by all within the spirits and principles of the present invention
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of Autonomous Obstacle Negotiating Inspection Robot controller mutually started based on Hot Spare, which is characterized in that including the first micro-control
Device processed and the second microcontroller, the first microcontroller are connected with first control circuit, and the second microcontroller is connected with the second control
Circuit；
The first control circuit includes the first LED lamp bead, the first photo-coupler and the first relay, the first LED lamp bead and the
The input terminal of one photo-coupler is connected, and the cathode output end of the first photo-coupler is connected with the anode of the coil of the first relay,
The cathode output end of first photo-coupler is connected with the first triode, the cathode phase of the first triode and the coil of the first relay
Even, the normally-closed contact of first relay is connected with the power supply of the first microcontroller；
The second control circuit includes the second LED lamp bead, the second photo-coupler and the second relay, the second LED lamp bead and the
The input terminal of two photo-couplers is connected, and the cathode output end of the second photo-coupler is connected with the anode of the coil of the second relay,
The cathode output end of second photo-coupler is connected with the second triode, the cathode phase of the second triode and the coil of the second relay
Even, the normally-closed contact of second relay is connected with the power supply of the second microcontroller；
The normally-closed contact of first relay and the normally-closed contact of the second relay are connected.
2. the Autonomous Obstacle Negotiating Inspection Robot controller according to claim 1 mutually started based on Hot Spare, feature are existed
In first microcontroller is connected with the cathode of the first LED lamp bead, the cathode phase of the second microcontroller and the second LED lamp bead
Even.
3. the Autonomous Obstacle Negotiating Inspection Robot controller according to claim 1 mutually started based on Hot Spare, feature are existed
In the cathode output end of first photo-coupler is connected by first resistor with the base stage of the first triode, the first triode
Collector be connected with the cathode of the coil of the first relay, the emitter of the first triode ground connection.
4. a kind of Autonomous Obstacle Negotiating Inspection Robot controller mutually started based on Hot Spare according to claim 1, special
Sign is that the cathode output end of second photo-coupler is connected by second resistance with the base stage of the second triode, the two or three
The collector of pole pipe is connected with the cathode of the coil of the second relay, the emitter ground connection of the second triode.
5. a kind of Autonomous Obstacle Negotiating Inspection Robot controller mutually started based on Hot Spare according to claim 1, special
Sign is, the one or two pole is connected between the cathode and the cathode output end of the first photo-coupler of first relay coil
Pipe；It is connected with the second diode between the cathode and the cathode output end of the second photo-coupler of second relay coil.
6. the Autonomous Obstacle Negotiating Inspection Robot controller according to claim 1 mutually started based on Hot Spare, feature are existed
In first microcontroller and the second microcontroller connect 3.3V voltages, and the first photo-coupler and the second photo-coupler connect
3.3V voltages, the first relay and the second relay connect 5V voltages.
7. the Autonomous Obstacle Negotiating Inspection Robot controller according to claim 1 mutually started based on Hot Spare, feature are existed
In the model of first microcontroller and the second microcontroller is STM32F407ZGT6, the first photo-coupler and the second light
The model of coupler is PC817, and the model of the first triode and the second triode is S9014, the first diode and second
The model of diode is FR107, and the first LED lamp bead and the second LED lamp bead are 3mm specification light emitting diodes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810370361.3A CN108436950A (en) | 2018-04-24 | 2018-04-24 | A kind of Autonomous Obstacle Negotiating Inspection Robot controller mutually started based on Hot Spare |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810370361.3A CN108436950A (en) | 2018-04-24 | 2018-04-24 | A kind of Autonomous Obstacle Negotiating Inspection Robot controller mutually started based on Hot Spare |
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| Publication Number | Publication Date |
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| CN108436950A true CN108436950A (en) | 2018-08-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113256947A (en) * | 2021-06-22 | 2021-08-13 | 江西师范大学 | Alarm device for preventing articles from being lost |
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| CN104793516A (en) * | 2015-03-26 | 2015-07-22 | 成都力鑫科技有限公司 | Control switch for garbage briquetting control system |
| CN106647488A (en) * | 2016-12-18 | 2017-05-10 | 四川超影科技有限公司 | Power switch control circuit applied to patrol robot |
| CN206710815U (en) * | 2017-05-16 | 2017-12-05 | 山东科技大学 | A kind of dual controller redundant reset control circuit |
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2018
- 2018-04-24 CN CN201810370361.3A patent/CN108436950A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104793516A (en) * | 2015-03-26 | 2015-07-22 | 成都力鑫科技有限公司 | Control switch for garbage briquetting control system |
| CN106647488A (en) * | 2016-12-18 | 2017-05-10 | 四川超影科技有限公司 | Power switch control circuit applied to patrol robot |
| CN206710815U (en) * | 2017-05-16 | 2017-12-05 | 山东科技大学 | A kind of dual controller redundant reset control circuit |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113256947A (en) * | 2021-06-22 | 2021-08-13 | 江西师范大学 | Alarm device for preventing articles from being lost |
| CN113256947B (en) * | 2021-06-22 | 2023-11-10 | 江西师范大学 | Alarm device for preventing articles from losing |
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Application publication date: 20180824 |