CN110134123A - A kind of control method of smart grid inspection robot - Google Patents
A kind of control method of smart grid inspection robot Download PDFInfo
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- CN110134123A CN110134123A CN201910339951.4A CN201910339951A CN110134123A CN 110134123 A CN110134123 A CN 110134123A CN 201910339951 A CN201910339951 A CN 201910339951A CN 110134123 A CN110134123 A CN 110134123A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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Abstract
The present invention relates to a kind of control methods of smart grid inspection robot, and after starting Intelligent patrol robot, inspection robot starts to carry out line walking (line walking shape mark), identify when inspection robot detects that stopping is linear, that is, stop traveling.If do not detect stopping threadiness mark, avoidance subprogram is opened.During Intelligent patrol robot line walking, if Intelligent patrol robot detects around when there is avoidance object, inspection robot just can be carried out the movement of flexible avoidance, can bypass it detects that barrier.After avoiding barrier, continue the movement of line walking shape mark.The control method for the inspection robot that the invention patent provides, which uses, uses core of the single-chip microcontroller as whole system, has many advantages, such as that control is simple, convenient, fast, resourceful, has more powerful control function and can bit addressing operating function, cheap.
Description
Technical field
The invention patent relates to a kind of control method of robot, at especially a kind of set multiclass sensor, multi information
The control method of the smart grid inspection robot of reason system.
Background technique
With the continuous development of society, the continuous improvement of scientific and technological level, it is desirable to create one kind to replace people
The tool of the things such as some abnormally dangerous or precision prescribed height is made, be then just born this subject of robot.The world
Upper birth First robot is born in nineteen fifty-nine, has more than 50 years history so far, robot technology also achieves at full speed
Development and progress, having developed into one includes: machinery, electronics, computer, automatic control, signal processing, sensor etc. are more
The property sophisticated technology that subject is integrated.Inspection robot has gone through three generations's technological innovation change altogether:
First generation inspection robot is programmable teaching playback, does not load any sensor, only using simple
Switch control, path and the kinematic parameter of inspection robot are set by programming, during the work time, cannot be according to ring
The variation in border and the motion profile for changing itself.
Second generation inspection robot supports off-line programing, has certain perception and adapts to the ability of environment, this kind of line walking machine
Device people is equipped with simple sensor, can feel that the movement position of itself, other physical quantitys such as speed, circuit are one and close
The control system of ring feedback adapts to certain external environment variation.
Third generation inspection robot be it is intelligent, at present in the research and development stage, constituted sense with a variety of external sensors
Official's system accurately describes the variation of external environment by the environmental information outside acquisition.Intelligent patrol robot, can be independent
Completion task, there is a Knowledge Base of its own, multi-information processign system, in structuring or semi-structured working environment, root
It makes a policy according to environmental change, there is certain adaptability, the ability of ability of self-teaching and self.In order to allow line walking
Robot can work independently, and on the one hand answer wisdom with higher and widely application, study various new machine sensors, separately
On the one hand, the technology of multiple multiclass sensor information fusions is also grasped, such inspection robot can be more acurrate, more fully
Obtain the information of local environment.
With the continuous development of China's science and technology, based on physics power grid, using extra-high voltage grid as bulk transmission grid, respectively
It is existing by advanced sensing measurement technology, mechanics of communication, information skill based on the sturdy power grid of voltage class electric network coordination development
The novel power grid that art, computer technology and control technology and physics grid height are integrated to form.It is sufficiently to meet user to electricity
The demand of power and safety, reliability and the economy of power supply of optimizing allocation of resources, ensure meet environment constraint, guarantee
For the purpose of power quality, adaptation electricity marketization development etc., the power supply of reliable to user, economic, cleaning, interaction is realized
And value-added service.Therefore, in smart grid, the faulty equipment in power grid is isolated from network system with most fast speed
Out, and in the state of almost automating system self-recovery is realized to normal operating condition, to accomplish in hardly
It is disconnected that the electric service of user is particularly important.Intelligent patrol robot is widely used in electric power network technique.
Summary of the invention
A kind of the purpose of the present invention is to provide programs simple, easy-operating Multi-sensor intelligent power grid inspection robot
Control method.
A kind of control method of smart grid inspection robot, comprising:
Step 1, opening control system, main program carry out initialization operation；
Step 2, the signal of the linear mark of detection is received from left and right probe respectively, and detection function sentences detection data
It is disconnected；
Step 3 wouldn't start motor drive module if not detecting linear mark, and receive detection letter again
Number, judged；
Step 4 judges whether detection data is the first signal if detecting linear mark, and first signal is a left side
Right probe is detected simultaneously by linear mark, if it is the first signal, then starts motor driven program, issues the first driving signal,
Robot is driven to advance；
Step 5 then judges whether detection data is second signal, the second signal if not the first signal immediately
Linear mark is detected for left side probe but linear mark is not detected in right side probe, if it is second signal, is then driven to motor
Dynamic program issues the second driving signal, and driving robot left steering moves on；
Step 6 then must be third signal if not second signal, and the third signal is that right side probe detects
Threadiness mark but left side, which are popped one's head in, is not detected linear mark, issues third driving signal to motor driven program, drives robot
Right turn moves on；
Step 7 halts if detecting stop line；If not detecting stop line, start barrier
Subprogram is detected, barrier is received from infrared sensor and reflects signal, if being not received by reflection signal, before continuing
Into；
Step 8 starts judgement processing routine if receiving barrier reflection signal, judges whether it is the 4th letter
Number, the fourth signal is that left side infrared sensor receives obstacle signal, if it is fourth signal, then issues the 4th
Driving signal, driving robot, which turns right, adjusts position, moves on；
Step 9 then judges whether it is the 5th signal if not fourth signal immediately, and the 5th signal is that right side is red
Outside line sensor receives obstacle signal, if it is the 5th signal, then issues the 5th driving signal, driving robot turns left
Position is adjusted, is moved on；
Step 10 then judges whether it is the 6th signal if not the 5th signal immediately, and the 6th signal is intermediate red
Outside line sensor receives obstacle signal, if it is the 6th signal, then issues the 6th driving signal, drives robot straight line
It retreats, moves on；
Step 11 is then moved on if not the 6th signal, repeats step 2 to step 11.
Further, the left and right probe is photoelectric sensor, is separately mounted to the left and right place in front of inspection robot, institute
Photoelectric sensor is stated all to be placed on same straight line.
Further, the infrared sensor transmitting tube and reception pipe are 3~5 pairs.
The control method for the inspection robot that the invention patent provides, which uses, uses core of the single-chip microcontroller as whole system
The heart, have control it is simple, convenient, fast, resourceful, have more powerful control function and can bit addressing operating function, valence
The advantages that lattice are cheap.A piece of motor drive ic can control two direct current generators respectively, its enable end can be with external level control
System also can use single-chip microcontroller and carry out software control, meets the needs of various complicated circuits.Using reflective photoelectric sensor,
Infrared tube makes line walking circuit, and when detecting linear mark, otherwise infrared tube ends for infrared receiving tube conducting, passes through
Comparator carries out voltage comparison, then level state is transmitted to single-chip microcontroller by its processing, single-chip microcontroller passes through the height electricity received
It puts down more reliable and stable come this mode of route for determining that the linear position identified and inspection robot are advanced for foundation.Using
Excellent computerized algorithm, software systems are stable, efficient.
Detailed description of the invention
Fig. 1 is the main control module circuit diagram of the control method of smart grid inspection robot of the present invention.
Fig. 2 is the main program flow schematic diagram of the control method of smart grid inspection robot of the present invention.
Fig. 3 is the detailed algorithm flow diagram of the control method of smart grid inspection robot of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Smart grid inspection robot in the present invention, as shown in Figure 1, including main control module, motor drive module, patrolling
Wire module, obstacle avoidance module, power module, mobile phone remote module and display module, the power module provide electricity for whole system
Pressure, the obstacle avoidance module acquire signal, return to the main control module, when inspection robot encounters barrier, make line walking
Robot carries out timely avoidance；The line walking module collection threadiness id signal, and it is transmitted to the main control module, the master
Control module sends control signal and drives vehicle wheel rotation to the motor drive module, to control the avoidance inspection robot,
Identify Intelligent patrol robot automatic running on transmisson line shape；The display module receives the inspection robot row that main control module is sent
Inlet signal, and show；The mobile phone remote module transmitting remote signal is in the main control module.
The inspection robot selects main control module of the single-chip microcontroller as inspection robot.The single-chip microcontroller is as master control
System processed, when the signal that modules transmit, the single-chip microcontroller receives the signal of each module, to assign to each module
Instruction, makes each module complete their corresponding functions, to make organic whole system steady operation, reaches inspection robot
Line walking avoidance effect.The power consumption of the single-chip microcontroller is low, and the fast control function of arithmetic speed is strong, and strong antijamming capability can
By property height, performance value ratio is high；With 32 I/O mouthfuls, a variety of serial ports are extended, 2 16 programmer timing counters,
System extension is easy.The instruction system function of single-chip microcontroller is compatible, greatly reduces the design of software section, also reduces circuit
The difficulty of design.
The main control module circuit is additionally provided with reset clock circuit.The reset circuit contains gate circuit and capacitor
Resistance can be selected three above and constitute reset circuit, and simple and price is low.There is a high-gain anti-inside the single-chip microcontroller
Amplifier is rung, for constituting oscillator, by bridging crystal oscillator at the both ends XTAL1 and XTAL2, recycles the internal oscillator of chip
Circuit constitutes stable self-oscillation electric appliance, and the pulse issued is sent directly into internal clock circuit.
The Intelligent patrol robot transmits a signal to master control by the linear mark of photoelectric sensor detection of Vehicular body front
Molding block, then main control module handles detection signal, and controls motor calibration positive offset amount, to realize line walking
Function.If two sensors of front all detect linear mark, sensor will issue signal, then two electricity of rear-wheel
Machine continues to turn on operating, and driving inspection robot advances.But it if only one sensor detects signal, detects
Sensor to signal will issue signal, and the motor of the side moves on, and the other side shuts down, and turn to reach
Purpose.
The Intelligent patrol robot has selected two photoelectric sensors, be separately mounted to a left side in front of inspection robot,
Right place, the line walking sensor are all placed on same straight line, to control the direction of inspection robot.Line walking principle is to work as
Photoelectric sensor on inspection robot follows linear mark, and output level is low level, and signal is transmitted to single-chip microcontroller, makes list
Piece machine controls the low and high level of motor drive module input port, to complete line walking machine to control the wheel of inspection robot
The line walking function of device people.The present invention additionally uses twin voltage comparator, and the output load resistance of the twin voltage comparator can be held in the mouth
It connects on allowing any supply voltage within the scope of supply voltage, is not limited this output energy conduct of by VCC terminal voltage value
One simple open circuit of SPS over the ground (not being employed when not having to load resistance), the drive that the sunken electric current of output par, c is likely to be obtained
As the electric current that reaches capacity (16mA), output transistor will move out dynamic and device the limited of β value and output voltage will very
It is fast to rise.The 8 foot plastics of biserial of 8 foot Plastic Package (DIP8) of dual-in-line and micro- shape are used inside the twin voltage comparator
Encapsulation.
The Intelligent patrol robot selects infrared emission and reception diode to be used for the obstacle avoidance module of inspection robot.Institute
Stating obstacle avoidance module is several infrared emissions and reception pipe being arranged in pairs, and is installed on inspection robot gabarit, the infrared emission
Pipe launches the infrared ray of a certain amount of frequency, if the arbitrarily described infrared-emitting diode of inspection robot has detected barrier,
Infrared ray will be fired back by barrier, be received by the infrared receiving tube, handled through over-voltage comparator and be transmitted to signal
Main control module.
Infrared receiving tube can receive the infrared signal that the wavelength of infrared transmitting tube transmitting is 940nm well, and to it
The light of his wavelength cannot then receive, to ensure that received accuracy and sensitivity.Five infrared sensors are set respectively
In the left end of inspection robot, middle-end and right end.Come or be reflected back but by force when the infrared ray launched is not reflected back to
When spending not big enough, infrared receiving tube is constantly in off state, and the TTL output end of module is high level at this time, corresponding to indicate
Light emitting diode is OFF state always；When testee appears in detection range, infrared ray is reflected back, and strong
Spend it is sufficiently large, infrared receiving tube conducting, at this time the TTL output end of module be low level, corresponding indication light diode is by point
It is bright.Infrared receiving diode is transmitted a signal to, transmits a signal to single-chip microcontroller through over-voltage comparator.Single-chip microcontroller receives letter
Judgement is carried out after number and executes corresponding actions, and then controls Intelligent patrol robot, and inspection robot is enable automatically to avoid
Barrier.
The work for passing through each sensor of detection using the barrier of infrared sensor detection road ahead, single-chip microcontroller as a result,
State, and low and high level control motor drive module work after collected data progress comprehensive analysis processing, will be generated, it is real
Now to the control in inspection robot direction and speed, to realize the function of electronic inspection robot automatic obstacle-avoiding.
The motor drive module of the Intelligent patrol robot uses the driving chip of 15 feet encapsulation, and inside has 4 channels to patrol
Collect driving circuit.Driving circuit is constituted using driving chip and its peripheral support circuit and motor.Single-chip microcontroller I O mouthfuls connect driving
Six input control the ends IN1, IN2, IN3, IN4 and PWM2 and PWM2 of chip, two output end MOTO1 of driving chip,
MOTO2 connects two motors respectively.D3-D9 mainly protects circuit, and protection driving chip is burnt out, because driving when system cut-off
Dynamic chip stops working, but motor, since inertia also will continue to move, motor is equivalent to a generator at this time, to outside
Power supply power generation.Driving chip may be caused to burn out if this voltage is applied directly to output end.Therefore, on driving chip
8 fast recovery diodes are set, electricity can sponge when motor is powered off, thus can protect driving chip not by
It burns out.
The input terminal of motor drive ic directly connects on single-chip microcontroller, the output end outA1 and outA2 of motor drive ic
Inspection robot revolver is connect, outB1 and outB2 connect inspection robot right wheel, and the logic of wheel spin status is as shown in table 1, single
Piece machine controls the low and high level of driving circuit input terminal, and inspection robot is enable to travel, and suspends, and turns left, turns right.
Table 1 is the logic function table of motor drive ic.
The logic function of 1 motor drive ic of table
Display module is group of four figures pipe, for showing real-time line walking state.Pass through the display on charactron, Wo Menke
Clearly to judge whether inspection robot works normally, and the state of work.When inspection robot detect all the way it is black
When baseline shape identifies, 1 is exported on corresponding position on charactron, when inspection robot detects that white background threadiness identifies all the way
When, 0 is exported on the corresponding position of charactron.Such as when inspection robot the 2nd, No. 3 sensors detect black matrix threadiness identify,
When other two-way detect white background threadiness mark, 0110 is shown on charactron.
In actual SCM system, generally requires multidigit and show.Very widely used Dynamically Announce is a kind of most normal
The multidigit display methods seen, the data measured with numeral method, charactron has 8 sections and every section must occupy a single-chip microcontroller
I/O port, so one digit number code pipe must account for single-chip I/O mouth, this secondary design uses 4 Digital sum pipes, then needs 1932 I/
O mouthfuls, and the I/O mouth of the single-chip microcontroller only has 32.Dynamically Announce can be good at solving charactron occupancy single-chip I/O mouth mistake
More problems.
In programming, with the choosing of single-chip microcontroller control section and position choosing, so-called position choosing is to choose one of charactron, then
Segment encode is exported using single-chip microcontroller, needs number to be shown that can be shown on this Digital sum pipe, is delayed after a period of time, then
Another charactron is chosen, then exports corresponding segment encode, high speed is alternately.In dynamic display, each delay time
Length is very important, if delay time is long, will appear scintillation；If delay time is too short, will appear aobvious
Show obfuscation and has ghost image.
Static drive is exactly to independent each LED power supply.LED each in this way has enough electric currents, and brightness is also corresponding
It is relatively high.Dynamic scan driving is exactly the electric current one LED light of original supply, while having given N number of lamp, so it
Brightness can decrease.Certainly distribution electric current not average when two LED light electric currents is supplied at the same time, is scanned between LED
Period electric current constantly replaces, and the frequency of scanning is determined according to the speed of single-chip microcontroller, that is to say, that the electricity on everybody charactron
Stream is that another LED has been supplied in next scan frequency for an one of LED in scan frequency.
By the value of the available current-limiting resistance R of analysis above:
If electric current when we want to allow every section of this 4 Digital sum pipe to work is that 8mA.Uled is voltage when working normally
Take 1.7V.Then we are it can be concluded that the value of current-limiting resistance is
So choosing the current-limiting resistance in 100 Europe.So each LED operation when electric current to be about 8mA. guaranteeing that LED can be bright
While will not be burned.
Be 64mA according to the electric current that can be calculated bits per inch code above, 8550 collector current maximum up to 1.5A,
Fully meet design requirement.Since the maximum sourcing current of single-chip microcontroller is typically about 2-5mA, so the current limliting of a 1K must go here and there
Resistance, triode herein are equivalent to on-off action, control the switch of every charactron.
Fig. 2 is the main program flow schematic diagram of smart grid inspection robot of the present invention.In conjunction with attached drawing 2, starting intelligence is patrolled
After line robot, inspection robot starts to carry out line walking (line walking shape mark), when inspection robot detects the linear mark of stopping
Know, that is, stops traveling.If do not detect stopping threadiness mark, avoidance subprogram is opened.It is patrolled in Intelligent patrol robot
During line, if Intelligent patrol robot detects around when there is avoidance object, inspection robot just be can be carried out flexibly
Avoidance movement, can bypass it detects that barrier.After avoiding barrier, continue the movement of line walking shape mark.
Specifically, in conjunction with the detailed algorithm flow diagram of the control method of attached drawing 3, which includes: first
Step, opening control system, main program carry out initialization operation；
Second step, the signal of the linear mark of detection is received from left and right probe respectively, and detection function sentences detection data
It is disconnected；
Third step wouldn't start motor drive module if not detecting linear mark, and receive detection letter again
Number, judged；
4th step judges whether detection data is the first signal if detecting linear mark, and first signal is a left side
Right probe is detected simultaneously by linear mark, if it is the first signal, then starts motor driven program, issues the first driving signal,
Robot is driven to advance；
5th step then judges whether detection data is second signal, the second signal if not the first signal immediately
Linear mark is detected for left side probe but linear mark is not detected in right side probe, if it is second signal, is then driven to motor
Dynamic program issues the second driving signal, and driving robot left steering moves on；
Step 6 then must be third signal if not second signal, and the third signal is that right side probe detects
Threadiness mark but left side, which are popped one's head in, is not detected linear mark, issues third driving signal to motor driven program, drives robot
Right turn moves on；
Step 7 halts if detecting stop line；If not detecting stop line, start barrier
Subprogram is detected, barrier is received from infrared sensor and reflects signal, if being not received by reflection signal, before continuing
Into；
Step 8 starts judgement processing routine if receiving barrier reflection signal, judges whether it is the 4th letter
Number, the fourth signal is that left side infrared sensor receives obstacle signal, if it is fourth signal, then issues the 4th
Driving signal, driving robot, which turns right, adjusts position, moves on；
Step 9 then judges whether it is the 5th signal if not fourth signal immediately, and the 5th signal is that right side is red
Outside line sensor receives obstacle signal, if it is the 5th signal, then issues the 5th driving signal, driving robot turns left
Position is adjusted, is moved on；
Step 10 then judges whether it is the 6th signal if not the 5th signal immediately, and the 6th signal is intermediate red
Outside line sensor receives obstacle signal, if it is the 6th signal, then issues the 6th driving signal, drives robot straight line
It retreats, moves on；
Step 11 is then moved on if not the 6th signal, repeats step 2 to step 11.
The really analog quantity that infrared electro transmits pipe, is not a digital quantity, and general we can pass through
Converter is changed into digital quantity and is handled again, by converter it is known that the gray scale in place, is adapted to difference
Site requirements.Due to using differential voltage comparator in the present invention, analog quantity is converted by voltage comparator in order to open
Digital quantity 0,1 is closed, then sends single-chip microcontroller to.Single-chip microcontroller is by judging that these switch numbers amounts can learn the state of line walking.
Start Intelligent patrol robot, inspection robot advances linear mark is follow automatically, if when being in inspection robot middle
Infrared sensor when having detected linear mark, inspection robot is then kept straight on；If the positive left side in inspection robot
When infrared sensor has detected linear mark, inspection robot turns left；When the infrared sensing on the right of inspection robot
When device has detected linear mark, inspection robot is turned right；If being now in the Intelligent patrol robot left side and intermediate infrared
When sensor has been detected simultaneously by linear mark, inspection robot is turned to the left；If in Intelligent patrol robot the right with
When the infrared sensor of intelligence middle has all detected linear mark, inspection robot starts to turn right.
Based on Infrared Sensor System, five infrared sensors are placed in left end, the middle-end, right end of inspection robot, are patrolled
Line robot detects front obstacle automatically, and signal is transmitted to single-chip microcontroller, and single-chip microcontroller controls steering engine, realizes or right
Turning, achievees the effect that avoiding obstacles.When starting Intelligent patrol robot, inspection robot meeting traveling straight forward, when
When some or certain several sensors in five sensors detect that surrounding has barrier, Intelligent patrol robot will do it phase
The avoidance answered.
In actual detection process, since ground is not clean or the interference of some other factor, it is also possible to P1 mouthfuls
The level states of low four appearance not in the column of above range, such as: 0101,1010,111,0111 equal kind of situation, we are right
It does not deal with, and inspection robot is allowed to continue to keep original state.
In writing program, we are also contemplated that jitter problem, because program may be caused in wink due to the stain on ground
Between have a uncertain state, and this state is possible to triggering single-chip microcontroller and executes corresponding movement, to cause line walking machine
Device people runs during line walking and is not sufficiently stable.So when we detect a certain state, it should delay appropriate, etc.
Corresponding function is executed again in stable condition.
void xunji()
{
unsigned char xj；
P1=0xff；
Xj=P1&0x0f；
If ((xj==0x09) | | (xj==0x0b)) back ()；
If ((xj==0x0d) | | (xj==0x08) | | (xj==0x01)) straight ()；
If ((xj==0x03) | | (xj==0x07)) right ()；
If ((xj==0x0c) | | (xj==0x0e)) left ()；
If (xj==0x0f) stop ()；
{
stop()；
Beep=1；
delay(500)；
Beep=0；
delay(500)；
straight()；
28
delay(500)；
}
}
Motor driven program mainly includes turning left, turning right, and advances, retreats, stop this 5 major parts.And turns left and turn right
To be finely divided again according to the degree of offset track.
Void go () // straight trip function
{
M1=0；
M2=1；
M3=0；
M4=0；
Pwm1=1；
Pwm2=0；
}
// retreat
Void back () // retrogressing function
{
M1=1；
M2=0；
M3=0；
M4=0；
}
// stop
Void stop () // stopping
{
M1=0；
M2=0；
M3=0；
M4=0；
}
29
// turn right
void run right()
{
M1=0；
M2=1；
M3=0；
M4=1；
}
// turn left
void run left()
{
M1=0；
M2=1；
M3=1；
M4=0；
}
Using dual-tone multifrequency decoding chip, the DTMF (touch-tone signal) that mobile phone can be issued turns mobile phone remote
Turn to tetra- signal outputs of D0-D3.Different low and high level values is indicated with D0-D3, to decode corresponding dtmf signal.So
Afterwards with decode come dtmf signal communicated with single-chip microcontroller.Its program is as follows:
Go () // mobile phone controls inspection robot part
{
switch(DTMF)
{
case 0x08:
straight()；// advance 2
P0=0x05；
break；
case 0x04:
left()；// left-hand rotation 4
30
P0=0x09；
break；
case 0x0c:
right()；// right-hand rotation 6
P0=0x0d；
break；
case 0x14:
stop()；// parking 5
P0=0x0b；
break；
case 0x02:
back()；// retreat 8
P0=0x11；
break；
Case 0x06:P0=0x19；
xunji()；
break；
Case 0x10:P0=0xf9；break；//1
Case 0x18:P0=0xB0；break；//3
Case 0x1c:P0=0xF8；break；//7
Case 0x12:P0=0x90；break；//9
Case 0x0a:P0=0xC0；break；//0
}
If (sensor==0) P2=0x00；
}
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not used to limit this hair the foregoing is merely a specific embodiment of the invention
Bright protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all
It is included within protection scope of the present invention.
Claims (3)
1. a kind of control method of smart grid inspection robot,
Step 1, opening control system, main program carry out initialization operation；
Step 2, the signal of the linear mark of detection is received from left and right probe respectively, and detection function judges detection data；
Step 3 wouldn't start motor drive module if not detecting linear mark, and again receive detection signal,
Judged；
Step 4 judges whether detection data is the first signal if detecting linear mark, and first signal is that left and right is visited
Head is detected simultaneously by linear mark, if it is the first signal, then starts motor driven program, issues the first driving signal, driving
Robot advances；
Step 5 then judges whether detection data is second signal if not the first signal immediately, and the second signal is a left side
Side probe detects linear mark but linear mark is not detected in right side probe, if it is second signal, then to motor driven journey
Sequence issues the second driving signal, and driving robot left steering moves on；
Step 6 then must be third signal if not second signal, and the third signal is that right side probe detects threadiness
Mark but left side, which are popped one's head in, is not detected linear mark, issues third driving signal to motor driven program, robot is driven to turn right
To moving on；
Step 7 halts if detecting stop line；If not detecting stop line, start detection of obstacles
Subprogram receives barrier reflection signal from infrared sensor and moves on if being not received by reflection signal；
Step 8 starts judgement processing routine, judges whether it is fourth signal if receiving barrier reflection signal, institute
Stating fourth signal is that left side infrared sensor receives obstacle signal, if it is fourth signal, then issues the 4th driving letter
Number, driving robot, which turns right, adjusts position, moves on；
Step 9 then judges whether it is the 5th signal if not fourth signal immediately, and the 5th signal is right side infrared ray
Sensor receives obstacle signal, if it is the 5th signal, then issues the 5th driving signal, driving robot turns left to adjust position
It sets, moves on；
Step 10 then judges whether it is the 6th signal if not the 5th signal immediately, and the 6th signal is intermediate infrared ray
Sensor receives obstacle signal, if it is the 6th signal, then issues the 6th driving signal, and driving robot straight line retreats,
It moves on；
Step 11 is then moved on if not the 6th signal, repeats step 2 to step 11.
2. the control method of smart grid inspection robot according to claim 1, which is characterized in that the photoelectric sensing
Device is three, is separately mounted at the left, center, right in front of inspection robot, it is straight that the photoelectric sensor is all placed on same
On line.
3. the control method of smart grid inspection robot according to claim 2, which is characterized in that the infrared emission
It is 3~5 pairs with reception pipe.
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