CN113778105A - Inspection robot system construction method based on distributed hardware architecture - Google Patents
Inspection robot system construction method based on distributed hardware architecture Download PDFInfo
- Publication number
- CN113778105A CN113778105A CN202111122950.8A CN202111122950A CN113778105A CN 113778105 A CN113778105 A CN 113778105A CN 202111122950 A CN202111122950 A CN 202111122950A CN 113778105 A CN113778105 A CN 113778105A
- Authority
- CN
- China
- Prior art keywords
- module
- bus
- network
- configuring
- control unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 30
- 238000010276 construction Methods 0.000 title claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 21
- 230000003993 interaction Effects 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 230000002411 adverse Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000007726 management method Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a construction method of an inspection robot system based on a distributed hardware architecture, which comprises the following steps: step one, configuring a central control computer and a time service unit based on a CAN bus; step two, configuring a network interaction module based on a network bus; thirdly, configuring a network equipment group for hardware time service based on a network bus; step four, configuring a motion control module for autonomous time setting based on the CAN bus; step five, configuring a business function module for autonomous time setting based on the CAN bus; and step six, adding a new function module and performing time synchronization configuration. According to the invention, a unified hardware interface can be established for the robot system, so that function customization is facilitated, and the batch and industrialization of the robot are promoted; aiming at the problem that a multi-hardware system management system is difficult to determine the data occurrence time, a high-precision time service CAN bus hardware synchronization method is provided, the adverse effects on robot positioning, control and the like caused by the fact that the data time is asynchronous in an inspection robot system are solved, and the overall performance of the inspection robot is improved.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a construction method of an inspection robot system based on a distributed hardware architecture.
Background
With the development of industrialization, the intelligent inspection robot is widely used in relevant areas such as pipe corridors, tunnels, electric power and machine rooms. The system is mainly used for realizing the inspection of the contents such as environmental parameters, equipment running states, facility integrity and the like in the regional environment, is used for replacing the traditional manual inspection, can continuously inspect for a long time, and reduces the potential safety hazard caused by the traditional manual inspection operation.
However, in the current stage, basically most of the inspection robots adopt a centralized control mode and a customized development mode, when a scene is changed or a business function is added, hardware needs to be changed uniformly, and the task workload is large. In addition, the robot generally adopts multi-sensor fusion for sensing, positioning and the like, most of the problems of multi-sensor data occurrence time are ignored, and certain interference and uncertainty are brought to the overall performance of the robot.
The invention content is as follows:
an object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages described hereinafter. To achieve these objects and other advantages in accordance with the present invention, there is provided a method for constructing an inspection robot system based on a distributed hardware architecture, including: step one, configuring a central control computer and a time service unit based on a CAN bus; step two, configuring a network interaction module based on a network bus; thirdly, configuring a network equipment group for hardware time service based on a network bus; step four, configuring a motion control module for autonomous time setting based on the CAN bus; step five, configuring a business function module for autonomous time setting based on the CAN bus; and step six, adding a new function module and performing time synchronization configuration.
Preferably, the central control computer accesses the CAN bus through a built-in CAN card; and the time service unit is mounted on the CAN bus.
Preferably, the configuration method of the network interaction module is as follows: the network interaction module comprises a network switch; the central control computer is connected with a public network port of the network switch through a built-in network card and is in wireless communication with the remote monitoring platform.
Preferably, the method for configuring the network device group includes:
s31, a configuration sensing module and a navigation positioning module; the sensing module and the positioning navigation module are provided with a common ultrasonic ranging unit which is mounted on a CAN bus; the ultrasonic ranging unit consists of an ultrasonic sensor and a driving circuit thereof; an inertial navigation unit mounted on a CAN bus is configured in the positioning navigation module; the inertial navigation unit consists of a gyroscope, an accelerometer and a geomagnetism meter;
s32, devices (laser radar, visible light camera and infrared camera) with local area network ports in the sensing module and the navigation positioning module form a network device group; the network equipment group is connected with the network switch through a plurality of local area network ports;
s33, a high-precision clock module built in the time service unit is in butt joint with respective clock interfaces of the network equipment group through hardware clock interfaces, and hardware time service is carried out on the network equipment group through a generated pulse per second (PPM).
Preferably, the configuration method of the motion control module includes:
s41, the motion control module comprises a mobile platform control unit and a holder control unit; the mobile platform control unit is a differential control mobile platform consisting of two servo motors; the mobile platform control unit receives an external instruction through a CAN bus, and controls the rotating speeds of the two servo motors through a driving circuit after analysis so as to complete the motion control of the robot; the two servo motors are respectively connected with encoders for feeding back related motion parameters; the cloud platform control unit consists of a two-degree-of-freedom cloud platform and a control circuit thereof, and performs alignment operation on related targets in the robot inspection service by controlling the rotation of the cloud platform;
and S42, the motion control module carries out autonomous time synchronization according to the CAN protocol through the time reference message generated by the time service unit.
Preferably, the configuration method of the service function module includes:
s51, the service function module includes: the gas detection device comprises a linkage control unit, a gas detection unit and an intercom control unit; the linkage control unit consists of a Bluetooth module and a control circuit thereof, is used for the interactive control of the robot and other intelligent equipment in a service scene, and can control the opening and closing of the tunnel electric door through the linkage control unit in the tunnel inspection operation; the gas detection unit consists of a gas sensor and a control circuit thereof and is used for detecting the concentration of related gas in a service scene; the talkback control unit consists of a microphone, a loudspeaker and a driving circuit thereof, and background management personnel can talkback with related personnel nearby the robot through the talkback control unit;
and S52, the service function module carries out autonomous time synchronization according to the CAN protocol through the time reference message generated by the time service unit.
Preferably, the adding configuration method of the new functional module includes: the new function module to be added firstly sends an initial data frame to the central control computer to apply for adding a system; and the central control computer performs autonomous time setting configuration on the new function module according to the flow of S52.
The invention at least comprises the following beneficial effects:
compared with the current inspection robot system, the inspection robot is divided into two types according to data interfaces by adopting a bus control technology, management control is carried out on the inspection robot through a network bus with the network interface, and other data interfaces are accessed into a main controller through a CAN bus; in addition, a high-precision clock module and software clock synchronization method is introduced to perform time management of data in a fractional structure, so that data clock synchronization is facilitated, and adverse effects such as errors caused by data asynchronism in the modeling and processing processes are eliminated. Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Description of the drawings:
FIG. 1 is a system hardware framework diagram of the present invention;
FIG. 2 is a diagram of the connection architecture of the network device group and the network switch of the present invention;
FIG. 3 is a block diagram of the software modules of the present invention;
FIG. 4 is a business process of the inspection machine of the present invention;
FIG. 5 is a synchronization process of autonomous time synchronization of each module based on a CAN bus according to the present invention;
FIG. 6 is a network interaction module framework diagram of the present invention;
FIG. 7 is a block diagram of a decision-making planning module of the present invention;
FIG. 8 is a framework diagram of a sensing module of the present invention;
FIG. 9 is a block diagram of a positioning navigation module according to the present invention;
FIG. 10 is a motion control module block diagram of the present invention;
FIG. 11 is a business function framework diagram of the present invention;
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text. It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof. It is to be understood that in the description of the present invention, the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are used only for convenience in describing the present invention and for simplification of the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. In the description of the present invention, unless otherwise specifically stated or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are used broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, or a communication between two elements, and those skilled in the art will understand the specific meaning of the terms in the present invention specifically. Further, in the present invention, unless otherwise explicitly specified or limited, a first feature "on" or "under" a second feature may be directly contacted with the first and second features, or indirectly contacted with the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature.
Example 1:
a construction method of an inspection robot system based on a distributed hardware architecture comprises the following steps:
step one, configuring a central control computer 2 and a time service unit 3 based on a CAN bus 1; the central control computer 2 is connected to the CAN bus 1 through a built-in CAN card 21; the time service unit 3 is mounted on the CAN bus 1;
step two, configuring a network interaction module based on a network bus; the configuration method of the network interaction module comprises the following steps: the network interaction module comprises a network switch 4; the central control computer 2 is connected with a public network port of the network switch 4 through a built-in network card 22 and is in wireless communication with the remote monitoring platform 11;
thirdly, configuring a network equipment group for hardware time service based on a network bus; the configuration method of the network equipment group comprises the following steps:
s31, a configuration sensing module and a navigation positioning module; the sensing module and the positioning navigation module are provided with a common ultrasonic ranging unit 5 which is mounted on the CAN bus 1; the ultrasonic ranging unit 5 consists of an ultrasonic sensor 51 and a driving circuit 52 thereof; an inertial navigation unit 6 mounted on the CAN bus 1 is configured in the positioning navigation module; the inertial navigation unit 6 consists of a gyroscope 61, an accelerometer 62 and a geomagnetism meter 63;
s32, devices (a laser radar 41, a visible light camera 42 and an infrared camera 43) with local area network ports in the sensing module and the navigation positioning module form a network device group; the network equipment group is connected with the network switch 4 through a plurality of local area network ports;
s33, a high-precision clock module 31 built in the time service unit 3 is in butt joint with respective clock interfaces of the network equipment group through hardware clock interfaces, and hardware time service is carried out on the network equipment group through a generated pulse per second (PPM);
step four, configuring a motion control module for autonomous time setting based on the CAN bus 1; the configuration method of the motion control module comprises the following steps:
s41, the motion control module comprises a mobile platform control unit 71 and a holder control unit 72; the moving platform control unit 71 is a differential control moving platform consisting of two servo motors 711; the mobile platform control unit receives an external instruction through the CAN bus 1, and controls the rotating speed of the two servo motors 711 through a driving circuit after analysis so as to complete the motion control of the robot; the two servo motors 711 are respectively connected with an encoder 712 for feeding back related motion parameters; the pan-tilt control unit 72 is composed of a two-degree-of-freedom pan-tilt 721 and a pan-tilt control circuit 722 thereof, and performs alignment operation on related targets in the robot inspection service by controlling the rotation of the pan-tilt 721;
s42, the motion control module carries out autonomous time synchronization according to a CAN protocol through a time reference message generated by the time service unit 3;
step five, configuring a business function module for autonomous time setting based on the CAN bus 1; the configuration method of the service function module comprises the following steps:
s51, the service function module includes: a linkage control unit 81, a gas detection unit 82, and an intercom control unit 83; the linkage control unit 81 consists of a Bluetooth module 811 and a control circuit thereof, is used for the interaction control of the robot and other intelligent equipment in a service scene, and can control the opening and closing of the tunnel electric door 812 through the linkage control unit 81 in the tunnel inspection operation; the gas detection unit 82 is composed of a gas sensor 821 and a control circuit thereof, and is used for detecting the concentration of the relevant gas in the service scene; the talkback control unit 83 is composed of a microphone 831, a loudspeaker 832 and a driving circuit thereof, and background management personnel can talk back to related personnel nearby the robot through the talkback control unit;
s52, the service function module carries out autonomous time synchronization according to the CAN protocol through the time reference message generated by the time service unit 3;
adding a new function module and performing time synchronization configuration; the adding configuration method of the new functional module comprises the following steps: a new function module to be added firstly sends an initial data frame to the central control computer 2 to apply for adding a system; and the central control computer 2 performs autonomous time setting configuration on the new function module according to the flow of S52.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (7)
1. A construction method of an inspection robot system based on a distributed hardware architecture is characterized by comprising the following steps: step one, configuring a central control computer and a time service unit based on a CAN bus; step two, configuring a network interaction module based on a network bus; thirdly, configuring a network equipment group for hardware time service based on a network bus; step four, configuring a motion control module for autonomous time setting based on the CAN bus; step five, configuring a business function module for autonomous time setting based on the CAN bus; and step six, adding a new function module and performing time synchronization configuration.
2. The inspection robot system construction method based on the distributed hardware architecture of claim 1, wherein the central control computer accesses a CAN bus through a built-in CAN card; and the time service unit is mounted on the CAN bus.
3. The inspection robot system construction method based on the distributed hardware architecture of claim 1, wherein the configuration method of the network interaction module is as follows: the network interaction module comprises a network switch; the central control computer is connected with a public network port of the network switch through a built-in network card and is in wireless communication with the remote monitoring platform.
4. The inspection robot system construction method based on the distributed hardware architecture according to claim 1, wherein the configuration method of the network equipment group comprises the following steps:
s31, a configuration sensing module and a navigation positioning module; the sensing module and the positioning navigation module are provided with a common ultrasonic ranging unit which is mounted on a CAN bus; the ultrasonic ranging unit consists of an ultrasonic sensor and a driving circuit thereof; an inertial navigation unit mounted on a CAN bus is configured in the positioning navigation module; the inertial navigation unit consists of a gyroscope, an accelerometer and a geomagnetism meter;
s32, devices (laser radar, visible light camera and infrared camera) with local area network ports in the sensing module and the navigation positioning module form a network device group; the network equipment group is connected with the network switch through a plurality of local area network ports;
s33, a high-precision clock module built in the time service unit is in butt joint with respective clock interfaces of the network equipment group through hardware clock interfaces, and hardware time service is carried out on the network equipment group through a generated pulse per second (PPM).
5. The inspection robot system construction method based on the distributed hardware architecture according to claim 1, wherein the configuration method of the motion control module comprises the following steps:
s41, the motion control module comprises a mobile platform control unit and a holder control unit; the mobile platform control unit is a differential control mobile platform consisting of two servo motors; the mobile platform control unit receives an external instruction through a CAN bus, and controls the rotating speeds of the two servo motors through a driving circuit after analysis so as to complete the motion control of the robot; the two servo motors are respectively connected with encoders for feeding back related motion parameters; the cloud platform control unit consists of a two-degree-of-freedom cloud platform and a control circuit thereof, and performs alignment operation on related targets in the robot inspection service by controlling the rotation of the cloud platform;
and S42, the motion control module carries out autonomous time synchronization according to the CAN protocol through the time reference message generated by the time service unit.
6. The inspection robot system construction method based on the distributed hardware architecture according to claim 1, wherein the configuration method of the business function module comprises the following steps:
s51, the service function module includes: the gas detection device comprises a linkage control unit, a gas detection unit and an intercom control unit; the linkage control unit consists of a Bluetooth module and a control circuit thereof, is used for the interactive control of the robot and other intelligent equipment in a service scene, and can control the opening and closing of the tunnel electric door through the linkage control unit in the tunnel inspection operation; the gas detection unit consists of a gas sensor and a control circuit thereof and is used for detecting the concentration of related gas in a service scene; the talkback control unit consists of a microphone, a loudspeaker and a driving circuit thereof, and background management personnel can talkback with related personnel nearby the robot through the talkback control unit;
and S52, the service function module carries out autonomous time synchronization according to the CAN protocol through the time reference message generated by the time service unit.
7. The inspection robot system construction method based on the distributed hardware architecture of claim 1, wherein the adding and configuring method of the new functional module is as follows: the new function module to be added firstly sends an initial data frame to the central control computer to apply for adding a system; and the central control computer performs autonomous time setting configuration on the new function module according to the flow of S52.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111122950.8A CN113778105A (en) | 2021-09-24 | 2021-09-24 | Inspection robot system construction method based on distributed hardware architecture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111122950.8A CN113778105A (en) | 2021-09-24 | 2021-09-24 | Inspection robot system construction method based on distributed hardware architecture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113778105A true CN113778105A (en) | 2021-12-10 |
Family
ID=78853218
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111122950.8A Pending CN113778105A (en) | 2021-09-24 | 2021-09-24 | Inspection robot system construction method based on distributed hardware architecture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113778105A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116204326A (en) * | 2023-05-05 | 2023-06-02 | 深圳开鸿数字产业发展有限公司 | Service processing method, service processing device, equipment and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206282140U (en) * | 2016-12-21 | 2017-06-27 | 上海木爷机器人技术有限公司 | Obstruction-avoiding control system |
| CN112894805A (en) * | 2020-12-29 | 2021-06-04 | 北京东土科技股份有限公司 | Robot communication method and system based on industrial broadband bus |
-
2021
- 2021-09-24 CN CN202111122950.8A patent/CN113778105A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206282140U (en) * | 2016-12-21 | 2017-06-27 | 上海木爷机器人技术有限公司 | Obstruction-avoiding control system |
| CN112894805A (en) * | 2020-12-29 | 2021-06-04 | 北京东土科技股份有限公司 | Robot communication method and system based on industrial broadband bus |
Non-Patent Citations (4)
| Title |
|---|
| 刘义海: "基于动态ＣＡＮ技术的ＵＵＶ控制网络设计", 计算机测量与控制, 31 December 2012 (2012-12-31), pages 1382 - 1384 * |
| 李志坚;姜利华;陈丽红;李蔚;嵇翔;: "数字化保护装置时钟同步的实现", 电力系统保护与控制, no. 07, 1 April 2011 (2011-04-01) * |
| 王日中;刘伟;刘渝桥;石成骜;周于杰;: "电力SCADA中高精度同步时钟技术研究及应用", 重庆理工大学学报(自然科学), no. 02, 15 February 2020 (2020-02-15) * |
| 谢经明: "基于CAN总线时钟同步机制的研究", 计算机工程与应用, 31 December 2005 (2005-12-31), pages 50 - 52 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116204326A (en) * | 2023-05-05 | 2023-06-02 | 深圳开鸿数字产业发展有限公司 | Service processing method, service processing device, equipment and storage medium |
| CN116204326B (en) * | 2023-05-05 | 2023-08-29 | 深圳开鸿数字产业发展有限公司 | Service processing method, service processing device, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111968262B (en) | Semantic intelligent substation inspection operation robot navigation system and method | |
| US11244509B2 (en) | Drift correction for industrial augmented reality applications | |
| CN108628595A (en) | The exploitation of control application program under augmented reality environment | |
| CN1882181B (en) | Construction equipment discovery method and system on a network | |
| CN107438095A (en) | The session interface agency of manufacturing operation information | |
| CN110865917A (en) | AR technology-based electric power machine room inspection operation method, system and application | |
| Wang et al. | Fundamental technology for RFID-based supervisory control of shop floor production system | |
| CN104731076A (en) | Working condition monitoring system based on DCS structure | |
| CN113326964B (en) | Data-based composite multi-stage comprehensive pipe gallery risk management and control method | |
| CN103946755A (en) | Method, computer program, computer-readable medium, and computing unit for operating field devices | |
| KR20150083480A (en) | System for managing facilities by using 3d stereoscopic images | |
| CN113778105A (en) | Inspection robot system construction method based on distributed hardware architecture | |
| CN104569909A (en) | Indoor positioning system and method | |
| CN112123338A (en) | Transformer substation intelligent inspection robot system supporting deep learning acceleration | |
| Vick et al. | Using OPC UA for distributed industrial robot control | |
| CN106774178A (en) | A kind of automation control system and method, plant equipment | |
| CN208015624U (en) | A kind of multiaxial motion step-by-step control system | |
| CN108806014A (en) | A kind of remote computer machine room intelligent cruising inspection system based on cloud computer | |
| CN115284247A (en) | Live working robot master-slave teleoperation method and system based on heterogeneous master hand | |
| CN114227709A (en) | Auxiliary office case handling robot and case handling method | |
| Beck et al. | MobotWare–A Plug-in Based Framework for Mobile Robots | |
| Yanes-Díaz et al. | Software and cyber-infrastructure development to control the Observatorio Astrofísico de Javalambre (OAJ) | |
| Dehuai et al. | Design and implementation of a security and patrol robot system | |
| Warabino et al. | Proposals and evaluations of robotic attendance at on-site network maintenance works | |
| CN109648544A (en) | A kind of multi-joint intelligent industrial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |