CN206282140U - Obstruction-avoiding control system - Google Patents
Obstruction-avoiding control system Download PDFInfo
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- CN206282140U CN206282140U CN201621412428.8U CN201621412428U CN206282140U CN 206282140 U CN206282140 U CN 206282140U CN 201621412428 U CN201621412428 U CN 201621412428U CN 206282140 U CN206282140 U CN 206282140U
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Abstract
The utility model embodiment provides a kind of obstruction-avoiding control system, and the system includes：Clock Synchronizing Control Devices and each robot, each robot are provided with the interface of connection clock Synchronizing Control Devices, and each robot includes the robot controller connected by bus and multiple avoidance detector modules.Each avoidance detector module includes microcontroller, memory, avoidance detector；Avoidance detector numbering and robot numbering are stored in memory；The clocking control signal that microcontroller sends according to robot controller enters row clock synchronization；The working time of avoidance detector is determined according to avoidance detector numbering and robot numbering；The obstacle detection signal of avoidance detector operationally interior detection is sent to bus.The synchronization of each avoidance detector module clock and identity in due to each robot are unique, the working time of each avoidance detector module based on this determination is different, it is to avoid the interference between avoidance detector module.
Description
Technical field
The utility model is related to technical field of electric control, more particularly to a kind of obstruction-avoiding control system.
Background technology
In recent years, as the development and artificial intelligence study of robot technology deepen continuously, intelligent mobile robot is in people
Play the part of more and more important role in class life, be used widely in numerous areas such as welcome's guiding.
Intelligent mobile robot is that a class can perceive environment and oneself state by detector, real now with barrier
Object-oriented independent navigation motion in environment, so as to complete the robot system of preplanned mission.Therefore, obstacle avoidance system is intelligence
The indispensable key element of mobile robot.Usually, avoidance be based on the multiple avoidance detectors configured on intelligent mobile robot come
Detect barrier and realize.
In general, multiple avoidance detectors are generally fitted with order to ensure reliable walking, on intelligent mobile robot, and
And multiple intelligent mobile robots may be deployed in same applied environment, so, when multiple intelligent mobile robots simultaneously
During work, between the avoidance detector of different intelligent mobile robot, the different avoidance detectors of same intelligent mobile robot
Between all there may be and interfere, such as one detection signal of avoidance detector is received by other avoidance detectors, influence
The accuracy of detection of obstacles result.
Utility model content
In view of this, the utility model embodiment provides a kind of obstruction-avoiding control system, by each avoidance in robot
The control of the working time of detector, to avoid interfering between different avoidance detectors, improves detection of obstacles result
Accuracy.
The utility model embodiment provides a kind of obstruction-avoiding control system, including：
Clock Synchronizing Control Devices and at least one robot, set in each robot at least one robot
It is equipped with the interface for connecting the clock Synchronizing Control Devices；
Wherein, each robot at least one robot includes：
By bus connect robot controller and at least two avoidance detector modules, the robot controller with
The interface connection, to receive the clocking control signal of the clock Synchronizing Control Devices；
Each avoidance detector module at least two avoidances detector module includes：Microcontroller, Yi Jifen
Memory, the avoidance detector not being connected with the microcontroller；
Be stored with corresponding avoidance detector numbering and robot numbering in the memory；
The microcontroller, when the clocking control signal for being sent according to the robot controller is carried out
Clock synchronization；Avoidance detector numbering and robot numbering according to being read from the memory determine the avoidance
The working time of detector；The obstacle detection signal that the avoidance detector is obtained is sent to the bus；
The avoidance detector, the obstacle detection signal is obtained for being detected within the working time.
Alternatively, also include in described each avoidance detector module：
The first timer and the second timer being connected with the microcontroller respectively；
The microcontroller, based on the first timer restarting is controlled according to the clocking control signal
When；And,
The timing of the second timer initiation predetermined time period is controlled when the obstacle detection signal is obtained, and
When the predetermined time period is reached, the obstacle detection signal is sent to the bus.
Alternatively, also include in described each avoidance detector module：
Low pressure difference linear voltage regulator, one end of the low pressure difference linear voltage regulator is connected with the microcontroller, the other end
It is connected with power supply.
Alternatively, the bus is CAN, is also included in described each avoidance detector module：
CAN transceiver, one end of the CAN transceiver is connected with the microcontroller, and the other end connects with the CAN
Connect.
Alternatively, the avoidance detector is：Supersonic detector and/or activation detector.
The obstruction-avoiding control system that the utility model embodiment is provided, is numbered to each robot in advance, and to every
Each avoidance detector in individual robot is numbered, thus any avoidance detector module in for each robot come
Say, numbered as identity using its corresponding robot numbering and avoidance detector.When machine man-hour, first by when
Clock synchronization process, makes the avoidance detector module clock synchronization in each robot.And then, for each in each robot
Avoidance detector module, determines its working time, due to the body of each avoidance detector module according to its corresponding identity
Part mark is different, so that ensure that the working time of each avoidance detector module of each robot is different, in this way, each
The corresponding obstacle detection signal of avoidance detector module will not produce interference to other avoidance detector modules, so as to contribute to
Improve the accuracy of detection of obstacles result.
Brief description of the drawings
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are
Some embodiments of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
The structural representation of the obstruction-avoiding control system embodiment one that Fig. 1 is provided for the utility model embodiment；
The structural representation of the obstruction-avoiding control system embodiment two that Fig. 2 is provided for the utility model embodiment.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, is clearly and completely described, it is clear that retouched to the technical scheme in the utility model embodiment
The embodiment stated is a part of embodiment of the utility model, rather than whole embodiments.Based on the implementation in the utility model
Example, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made is belonged to
The scope of the utility model protection.
The term used in the utility model embodiment is the purpose only merely for description specific embodiment, and is not intended to
Limitation the utility model." one kind " of singulative used in the utility model embodiment and appended claims,
" described " and " being somebody's turn to do " is also intended to include most forms, unless context clearly shows that other implications, " various " generally comprise to
It is few two kinds, but it is not excluded for comprising at least one situation.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, represent
There may be three kinds of relations, for example, A and/or B, can represent：Individualism A, while there is A and B, individualism B these three
Situation.In addition, character "/" herein, typicallys represent forward-backward correlation pair as if a kind of relation of "or".
It will be appreciated that though may be described using term first, second, third, etc. in the utility model embodiment
XXX, but these XXX should not necessarily be limited by these terms.These terms are only used for being distinguished from each other open XXX.For example, not departing from this reality
In the case of new embodiment scope, an XXX can also be referred to as the 2nd XXX, and similarly, the 2nd XXX can also be claimed
It is an XXX.
Depending on linguistic context, word as used in this " if ", " if " can be construed to " ... when " or
" when ... " or " in response to determining " or " in response to detection ".Similarly, depending on linguistic context, phrase " if it is determined that " or " such as
Fruit detection (condition or event of statement) " can be construed to " when it is determined that when " or " in response to determine " or " when detection (statement
Condition or event) when " or " in response to detection (condition or event of statement) ".
Also, it should be noted that term " including ", "comprising" or its any other variant be intended to nonexcludability
Comprising, so that commodity or system including a series of key elements not only include those key elements, but also including without clear and definite
Other key elements listed, or it is this commodity or the intrinsic key element of system also to include.In the feelings without more limitations
Under condition, the key element limited by sentence "including a ...", it is not excluded that in the commodity or system including the key element also
There is other identical element.
The structural representation of the obstruction-avoiding control system embodiment one that Fig. 1 is provided for the utility model embodiment, such as Fig. 1 institutes
Show, the system includes：The robot 2 of clock Synchronizing Control Devices 1 and at least one, each machine at least one robot 2
The interface 21 for connecting clock Synchronizing Control Devices 1 is provided with people 2.
In practical application, clock Synchronizing Control Devices 1 can be subscriber terminal equipment, such as smart mobile phone, panel computer,
PC etc..Interface 21 such as can be controller local area network (Controller Area Network, abbreviation CAN) interface, from
And, clock Synchronizing Control Devices 1 and each robot 2 can be connected by CAN.
What deserves to be explained is, in the present embodiment, the effect of clock Synchronizing Control Devices 1 is so that the clock of each robot 2 is same
Step.Specifically, at the beginning of each robot 2 runs, clock Synchronizing Control Devices 1 are connected with the interface 21 of each robot 2, and then
Clock is sent to each robot 2 of connection based on the clock synchronization process logic being set in advance in clock Synchronizing Control Devices 1
Synchronous control signal, such as when sending this by triggering in clock Synchronizing Control Devices 1 certain virtual key or physical button
Clock synchronous control signal.
Alternatively, clock Synchronizing Control Devices 1 are after above-mentioned clocking control signal is sent, can directly disconnect with respectively
The connection of robot 2.
Wherein, each robot 2 includes：
The avoidance detector module 24 of robot controller 23 and at least two connected by bus 22, robot controller
23 are connected with interface 21, to receive the clocking control signal of clock Synchronizing Control Devices 1.
Robot controller 23 can perform the various man-machine friendship of robot 2 as the kernel control chip in robot 2
Mutual logical process, the calculating of various software algorithms etc., but, in the present embodiment, the robot controller 23 is mainly used in machine
Each avoidance detector module 24 in device people 2 enters row clock Synchronization Control, and each detection of avoidance detector module 24 of reception is obtained
The obstacle detection signal for obtaining, in order to carry out corresponding control operation based on obstacle detection signal to robot 2.
Wherein, specifically, robot controller 23 by interface 21 receive from clock Synchronizing Control Devices 1 when
After clock synchronous control signal, the clocking control signal is sent to each avoidance being connected in the bus 22 based on bus 22
Detector module 24, to cause that each avoidance detector module 24 enters row clock synchronization process based on the clocking control signal.
Alternatively, robot controller 23 can use various application specific integrated circuits (ASIC), Digital Signal Processing
It is device (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array (FPGA), micro-
Middle control element, microprocessor or other electronic components are realized.
In practical application, multiple avoidance detectors are usually contained in each robot 2, it is optional in one kind in the present embodiment
Implementation in, each avoidance detector is implemented as being contained in an avoidance detector module 24, that is to say, that this reality
Apply in example, multiple avoidance detector modules 24 are contained in each robot 2, each avoidance detector module 24 is according to certain
Avoidance detector in policy control itself carries out detection of obstacles.
Specifically, each the avoidance detector module 24 at least two avoidance detector modules 24 includes：Microcontroller
241, and memory 242, the avoidance detector 243 being connected with microcontroller 241 respectively.
Wherein, be stored with corresponding avoidance detector numbering and robot numbering in memory 242.
Microcontroller 241, the clocking control signal for being sent according to robot controller 23 enters row clock synchronization；
Avoidance detector numbering and robot numbering according to being read from memory 242 determine the working time of avoidance detector 243；
The obstacle detection signal that avoidance detector 243 is obtained is sent to bus 22.
Alternatively, microcontroller 241 can use such as PLD (PLD), field programmable gate array
(FPGA) or other electronic components realize.
Avoidance detector 243, for operationally interior detection acquired disturbance analyte detection signal.Alternatively, avoidance inspection
Surveying device 243 is：Supersonic detector and/or activation detector.
For clock synchronization process, microcontroller 241 is receiving the clock synchronization that robot controller 23 sends
After control signal, row clock synchronization process can be entered by resetting timer, so that, each avoidance connected by bus 22 is examined
Surveying device assembly 24 all has identical time zero, realizes the clock synchronization inside uniform machinery people.Further, since different
Row clock synchronization process is entered based on identical clocking control signal during robot, such that it is able to realize different robots
With identical time zero, the clock synchronization in each machine human world is realized.
In actual applications, each robot 2 can be numbered in advance, and to each robot 2 in respectively keep away
Barrier detector 243 is numbered, so that for any avoidance detector module 24 in for each robot 2, with its correspondence
Robot numbering and avoidance detector number as identity, can in advance by the identity corresponding memory of write-in
In 242, it is also possible to the control strategy for controlling the corresponding working time of avoidance detector 243 is previously written into microcontroller
In 241.
As an example it is assumed that there is robot A and robot B, 5 avoidance detector modules are included in each robot,
Assuming that 5 avoidance detectors in robot A are respectively a1, a2, a3, a4, a5, the 5 avoidance detectors difference in robot B
It is b1, b2, b3, b4, b5, then the body stored in corresponding memory is distinguished in 5 avoidance detector modules in robot A
Part identifies：A-a1, A-a2, A-a3, A-a4, A-a5；Corresponded to respectively in 5 avoidance detector modules in robot B
Memory in store identity can be：B-b1, B-b2, B-b3, B-b4, B-b5.
In a kind of optional implementation, the control strategy of the working time of the corresponding avoidance detector of above-mentioned control is base
In the control strategy of Time-sharing control.The strategy can be understood as：According to the number order of avoidance detector module, it is stipulated that each
Time interval between avoidance detector working time first and adjacent working time twice, wherein, each working time
Can be characterized with initial working time and operating time.With it is above-mentioned as an example it is assumed that each avoidance detector it is each
Operating time be 20ms, first initial working time of the first of robot A avoidance detector a1 is 1ms, then second
The initial working time of individual avoidance detector a2 is 21ms, and the 3rd initial working time of avoidance detector a3 is 41ms, with
This analogizes, then after the wheel of robot A whole avoidances sensors work one terminates, last 100ms.First avoidance inspection of robot B
The initial working time for surveying device b1 is 101ms, then second initial working time of avoidance detector b2 is 121ms, with such
Push away, then after the wheel of robot B whole avoidances sensors work one terminates, have gone through 200ms.Then secondary control first hereafter,
First initial working time of avoidance detector a1 of robot A is 201ms, by that analogy, is repeated above-mentioned first
The job control of each avoidance detector in robot A and second robot B.
For for each avoidance detector module 24, in order that obtain the avoidance detector module 24 can be according to above-mentioned control
Strategy execution processed, it is a kind of to be by the implementation in control strategy write-in microcontroller 241 alternatively：For the inspection of each avoidance
Surveying device assembly 24 carries out independent control strategy write-in treatment, i.e., in the microcontroller 241 of each avoidance detector module 24
Write-in performs the parameter involved by the control strategy for for the avoidance detector module 24：First the initial working time,
Time interval between each operating time, adjacent initial working time twice.
Above-mentioned implementation in ablation process, it is necessary in advance with reference to each avoidance detector module 24 identity,
I.e. its corresponding robot numbering and predetermined good each the avoidance detector module 24 of avoidance detector numbering are corresponding above-mentioned
Parameter, that is, need controlling strategy parameter of the differentiation write-in for each avoidance detector module 24 respectively.
For the further workload and complexity for simplifying ablation process, compared to the mode that above-mentioned differentiation writes, this
A kind of mode of unified write-in is also provided in embodiment, the calculation of the corresponding working time of avoidance detector 243 how will be determined
Legally constituted authority one is write in the microcontroller 241 of each avoidance detector module 24, is kept away with causing that each microcontroller 241 voluntarily calculates correspondence
Hinder the working time of detector 243.Wherein, the algorithm is consistent for each microcontroller 241, when actually performing,
Each microcontroller 241 reads the identity of avoidance detector module, i.e. robot numbering from itself corresponding memory 242
With avoidance detector numbering, the corresponding working time is determined based on the identity.And then, according to working time control correspondence
Avoidance detector 243 start work and break-off.
Avoidance detector 243, the acquired disturbance analyte detection signal within its corresponding working time, and detection of obstacles is believed
Number send to microcontroller 241, microcontroller 241 sends to bus 22 obstacle detection signal, so that robot
Controller 23 obtains the obstacle detection signal.
In the present embodiment, each robot is numbered in advance, and to each robot in each avoidance detector
Be numbered so that for any avoidance detector module in for each robot, with its corresponding robot numbering and
Avoidance detector is numbered as identity.When machine man-hour, first by clock synchronization process, in making each robot
Avoidance detector module clock synchronization.And then, for each the avoidance detector module in each robot, according to its correspondence
Identity determine its working time, because the identity of each avoidance detector module is different, so as to ensure each
The working time of each avoidance detector module of robot is different, in this way, each corresponding obstacle of avoidance detector module
Analyte detection signal will not produce interference to other avoidance detector modules, so as to be favorably improved the accurate of detection of obstacles result
Property.
The structural representation of the obstruction-avoiding control system embodiment two that Fig. 2 is provided for the utility model embodiment, such as Fig. 2 institutes
Show, on the basis of embodiment illustrated in fig. 1, also include in each avoidance detector module 24：
The first timer 244 and the second timer 245 being connected with microcontroller 241 respectively.
Microcontroller 241, for controlling the restarting timing of the first timer 244 according to clocking control signal.
In the present embodiment, the microcontroller 241 in each connection avoidance detector module 24 on bus 22 is being received
After the clocking control signal sent to robot controller 23, control corresponding first timer 244 to reset, restart
Timing.
Based on the explanation in embodiment illustrated in fig. 1, it is above-mentioned to multiple robots 2 in each avoidance detector module 24 point
When control strategy, avoidance detector 243 has fixed initial working time, the work of fixation in each avoidance detector module 24
Make the initial operating interval of duration, fixation, under the control strategy, each microcontroller 241 can be based on corresponding the
One timer 244 whether timing controlled to the corresponding initial working time corresponding avoidance detector 243 whether open detection,
And whether timing has reached one action duration to control avoidance to examine since the initial working time according to the first timer 244
The break-off of device 243 is surveyed, timing reaches the initial working time for being again turned on work again until the first timer 244, and control keeps away
Barrier detector 243 is again turned on detection, so circulation.
Above-mentioned Time-sharing control strategy, has been the work that each avoidance detector has been fixedly installed in advance in simple terms
Temporal information, referred to as constant off-time control strategy.
Relative to the constant off-time control strategy, dynamic sharing control strategy is additionally provided in the present embodiment.Wherein, this reality
The dynamic sharing control strategy refers in applying example：For for a robot, first avoidance inspection therein is only fixedly installed
Survey the device working time that starting works every time, the initial working time of other avoidance detectors is based on the adjacent previous avoidance of numbering
The obstacle detection signal of detector and determine, that is to say, that in the avoidance detector of adjacent numbering, latter avoidance detector work
The trigger condition of work is to receive the obstacle detection signal that previous avoidance detector detection is obtained.
What deserves to be explained is, under constant off-time control strategy, the working time can be understood as defining fixed each
Initial working time and each operating time；And under dynamic sharing control strategy, the working time can be understood as：For appoint
For first avoidance detector in one robot, it is stipulated that the fixed each initial working time, and for this first
The initial working time of other avoidance detectors in the operating time of avoidance detector and the robot and operating time are all
It is not fixedly installed.
As an example it is assumed that in robot A include 5 avoidance detectors, in advance respectively number consecutively be a1, a2, a3,
a4、a5.Then assume to preset first working time of avoidance detector a1 for timing to 1ms when, then in a1 corresponding the
When the timing that microcontroller 241 in one avoidance detector module is based on the first timer 245 finds to have reached 1ms, control
A1 open detections processed, and after the obstacle detection signal for receiving a1 feedbacks, control a1 break-ofves.Now, the microcontroller
Device 241 can be sent in bus 22 with the obstacle detection signal that will be received, so that, connect on bus 22 other
Avoidance detector module can receive the obstacle detection signal.Include first avoidance inspection in the obstacle detection signal
The identity of device assembly is surveyed, the identity is such as A-a1.In addition, first working time again of avoidance detector a1
It is defined as the time after prefixed time interval after the initial working time first, such as, the time interval is 100ms, then again
Working time is 101ms.The time interval can be completed once according to whole avoidance sensors works in estimating a robot
The required time sets.
On the one hand, it is assumed that for for the corresponding second avoidance detector module of second avoidance detector a2, it connects
The obstacle detection signal is received, parsing obtains first identity of avoidance detector module, is the discovery that adjacent with oneself
Avoidance detector module, then the corresponding second avoidance detector a2 that draws oneself up start detection, and detect acquisition
Obstacle detection signal is retransmited to bus 22.
On the other hand, it is assumed that for the corresponding 3rd avoidance detector module of the 3rd avoidance detector a3, its
The obstacle detection signal is received, parsing obtains first identity of avoidance detector module, it is found not to be and oneself
Adjacent avoidance detector module, then continue waiting for, until second avoidance detector a2 for receiving adjacent with oneself is corresponding
Obstacle detection signal when, the corresponding 3rd avoidance detector a3 that draw oneself up start detection, and detect acquisition
Obstacle detection signal is retransmited to bus 22.
In the example above only by taking a robot A as an example, when also robot B is included in addition to robot A, robot B
In first working time first of avoidance detector b1 can be determined according to the corresponding numberings of robot B.Such as, it is assumed that
Robot A is first robot, and numbering is 1, its first the working time be set as 1ms, and assume in a robot all
The total time that avoidance detector completes one action is 100ms, if robot B is assumed to be second robot, numbering is 2, then
First the working time can be defined as：1+ (2-1) * 100ms=101ms；If robot B is assumed to be the 3rd robot, numbering
It is 3, then the working time can be defined as first：1+ (3-1) * 100ms=201ms.For other avoidance detectors in robot B
Working time determination mode it is consistent with the working time determination mode of other avoidance detectors in robot A, repeat no more.
To sum up, the microcontroller 241 in each avoidance detector module 24 is based on the corresponding avoidance of following policy control
Sensors work：
After based on clocking control signal, corresponding first timer 245 is reset, in reading correspondence memory 242
Robot numbering and avoidance detector numbering.If it was found that avoidance detector numbering is first avoidance in affiliated robot
Detector is numbered, then in working time of the timing of the first timer 245 to default first avoidance detector, control correspondence
Avoidance detector start detection, wherein, first working time of avoidance detector is relevant with robot numbering；If it was found that
First avoidance detector numbering of the avoidance detector numbering for belonging in robot, the then barrier in bus to be received 22 such as
Hinder analyte detection signal, if receiving the obstacle detection signal of the previous avoidance detector numbering for including adjacent, it is right to control
The avoidance detector answered starts detection.
Alternatively, in the present embodiment, microcontroller 241 can determine that the robot for reading is numbered according to following manner
Whether it is that first avoidance detector in first robot numbering and certain robot is numbered with avoidance detector numbering：
In memory 242, associated storage has robot to number corresponding flag bit and avoidance detector numbering correspondence
Flag bit, if first, then corresponding flag bit is 1, is otherwise 0.So as to be determined whether for the based on the flag bit
One robot numbering, and whether be first avoidance detector numbering.
Further optionally, in order to prevent the obstruction of the obstacle detection signal in bus 22, each microcontroller 241 can
So that when the obstacle detection signal of correspondence avoidance detector 243 is received, it is long that control the second timer 245 starts Preset Time
The timing of degree, and when predetermined time period is reached, obstacle detection signal is sent to bus 22, i.e. time delay sends obstacle
Analyte detection signal is in bus 22.
Further optionally, also include in each avoidance detector module 24：
Low pressure difference linear voltage regulator 246, one end of low pressure difference linear voltage regulator 246 is connected with microcontroller 241, the other end
It is connected with power supply, is supplied with the power supply for ensureing stabilization.
Alternatively, bus 22 can be CAN, also include in each avoidance detector module 24：
CAN transceiver 247, one end of CAN transceiver 247 is connected with microcontroller 241, and the other end connects with CAN 22
Connect.
To sum up, in the present embodiment, for a robot for, can be according to the machine of wherein each avoidance detector module
People numbers and avoidance detector numbering, and the microcontroller write-in control in differentiation ground each avoidance detector module thereto is right
Answer the control strategy of avoidance sensors work --- dynamic sharing control strategy.Specifically, when avoidance detector numbering is shown as
During first avoidance detector in correspondence robot, working time first is determined according to correspondence robot numbering, according to default
Time interval, it is determined that the working time of follow-up each time；When the display of avoidance detector numbering is not first in correspondence robot
During individual avoidance detector, when the time of reception of the obstacle detection signal according to previous avoidance detector determines work every time
Between.
Above-mentioned dynamic sharing control strategy, because the obstacle detection signal of previous avoidance detector is examined as latter avoidance
Survey the trigger condition of device, it is ensured that the seamless connection of adjacent avoidance sensors work and working time are fully utilized.
System embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, the part shown as unit can be or may not be physics list
Unit, you can with positioned at a place, or can also be distributed on multiple NEs.It can according to the actual needs be selected
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each implementation method can
Realized by the mode of general hardware platform necessary to add, naturally it is also possible to by hardware.Based on such understanding, above-mentioned skill
The part that art scheme substantially contributes to prior art in other words can be embodied in the form of product, and the computer is produced
Product can be stored in a computer-readable storage medium, and such as ROM/RAM, magnetic disc, CD, including some instructions are used to so that one
Platform computer installation (can be personal computer, server, or network equipment etc.) performs each embodiment or embodiment
Some parts described in method.
Finally it should be noted that：Above example is only used to illustrate the technical solution of the utility model, rather than its limitations；
Although being described in detail to the utility model with reference to the foregoing embodiments, it will be understood by those within the art that：
It can still modify to the technical scheme described in foregoing embodiments, or which part technical characteristic is carried out etc.
With replacement；And these modifications or replacement, the essence of appropriate technical solution is departed from each embodiment technology of the utility model
The spirit and scope of scheme.
Claims (5)
1. a kind of obstruction-avoiding control system, it is characterised in that including：
Clock Synchronizing Control Devices and at least one robot, are provided with each robot at least one robot
Interface for connecting the clock Synchronizing Control Devices；
Wherein, each robot at least one robot includes：
By bus connect robot controller and at least two avoidance detector modules, the robot controller with it is described
Interface is connected, to receive the clocking control signal of the clock Synchronizing Control Devices；
Each avoidance detector module at least two avoidances detector module includes：Microcontroller, and respectively with
Memory, the avoidance detector of the microcontroller connection；
Be stored with corresponding avoidance detector numbering and robot numbering in the memory；
The microcontroller, it is same that the clocking control signal for being sent according to the robot controller enters row clock
Step；Avoidance detector numbering and robot numbering according to being read from the memory determine the avoidance detection
The working time of device；The obstacle detection signal that the avoidance detector is obtained is sent to the bus；
The avoidance detector, the obstacle detection signal is obtained for being detected within the working time.
2. system according to claim 1, it is characterised in that also include in described each avoidance detector module：
The first timer and the second timer being connected with the microcontroller respectively；
The microcontroller, for controlling the first timer restarting timing according to the clocking control signal；
And,
The timing of the second timer initiation predetermined time period is controlled when the obstacle detection signal is obtained, and is being reached
During to the predetermined time period, the obstacle detection signal is sent to the bus.
3. system according to claim 1, it is characterised in that also include in described each avoidance detector module：
Low pressure difference linear voltage regulator, one end of the low pressure difference linear voltage regulator is connected with the microcontroller, the other end with supply
Power supply is connected.
4. system according to claim 1, it is characterised in that the bus is CAN, described each avoidance detector
Also include in component：
CAN transceiver, one end of the CAN transceiver is connected with the microcontroller, and the other end is connected with the CAN.
5. system according to any one of claim 1 to 4, it is characterised in that the avoidance detector is：Ultrasonic wave is examined
Survey device and/or activation detector.
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| CN201621412428.8U CN206282140U (en) | 2016-12-21 | 2016-12-21 | Obstruction-avoiding control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774323A (en) * | 2016-12-21 | 2017-05-31 | 上海木爷机器人技术有限公司 | Obstruction-avoiding control system and method |
| CN113778105A (en) * | 2021-09-24 | 2021-12-10 | 四川智动木牛智能科技有限公司 | Inspection robot system construction method based on distributed hardware architecture |
-
2016
- 2016-12-21 CN CN201621412428.8U patent/CN206282140U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774323A (en) * | 2016-12-21 | 2017-05-31 | 上海木爷机器人技术有限公司 | Obstruction-avoiding control system and method |
| CN113778105A (en) * | 2021-09-24 | 2021-12-10 | 四川智动木牛智能科技有限公司 | Inspection robot system construction method based on distributed hardware architecture |
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