CN211149272U - Robot keeps away barrier test system based on ethernet - Google Patents
Robot keeps away barrier test system based on ethernet Download PDFInfo
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- CN211149272U CN211149272U CN201922263019.6U CN201922263019U CN211149272U CN 211149272 U CN211149272 U CN 211149272U CN 201922263019 U CN201922263019 U CN 201922263019U CN 211149272 U CN211149272 U CN 211149272U
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Abstract
The utility model relates to a barrier test system is kept away to robot based on ethernet, a serial communication port, including robot end equipment, signal control terminal, signal generator two, the object signal output part of robot end equipment links to each other with signal control terminal's object signal input part via net twine one, and signal control terminal's control signal output part links to each other with signal generator two's input via net twine two, and signal generator two's output is via the control signal input part of two connection robot end equipment of net twine.
Description
Technical Field
The utility model relates to a system suitable for keep away barrier system to robot and test.
Background
Robots are increasingly appearing in the field of vision of people, playing an increasing role. The robot can be used as a server to guide customers, and can also be used as a worker to replace the manual labor of people, but meanwhile, the robot brings many problems including safety problems, stability problems and the like. Particularly, a robot with autonomous mobility is convenient for people's life and has the functions of self-protection and others protection. In complex areas such as the field and the like, the robot can realize a self-protection function by utilizing a self-carried obstacle avoidance system; in public service areas and family living areas, people are dense, and the robot can guarantee the safety of people through an obstacle avoidance system. According to different detection modes, the obstacle avoidance system of the robot can be divided into a non-contact type obstacle avoidance system and a contact type obstacle avoidance system, the non-contact type obstacle avoidance system mainly utilizes various sensors and mechanisms to pre-judge the direction of an obstacle in advance, and the obstacle is avoided by movement. The contact type obstacle avoidance system is mainly characterized in that a collision detection device is additionally arranged on a shell of the robot, and the robot stops when detecting an obstacle and avoids the obstacle. Since the non-contact obstacle avoidance can predict obstacles in advance and has higher safety and stability, the development direction of the current mainstream is a non-contact obstacle avoidance mode.
SUMMERY OF THE UTILITY MODEL
The utility model aims at: the system for detecting the robot obstacle avoidance system in the non-contact obstacle avoidance mode is provided.
In order to achieve the above object, the technical scheme of the utility model provides a robot keeps away barrier test system based on ethernet, a serial communication port, including robot end equipment, signal control terminal, signal generator two, robot end equipment's object signal output part links to each other with signal control terminal's object signal input part via net twine one, signal control terminal's control signal output part links to each other with signal generator two's input via net twine two, signal generator two's output connects robot end equipment's control signal input part via net twine two, wherein:
the robot end equipment comprises a signal sending end module, an execution end module and a signal collector II, wherein the signal sending end module comprises a sensor and a signal generator I, the signal generator I receives a sensing signal given by the sensor and also receives a collision signal output by the execution end module, and an object signal output end of the signal generator I is connected with an object signal input end of the signal control terminal through a network cable I;
the control signal input end of the second signal collector is connected with the second signal generator through the second network cable, the output end of the second signal collector is connected with the input end of the execution end module, the execution end module comprises a collision detector, an actuator and a signal resolver, the input end of the signal resolver is connected with the output end of the second signal collector, the output end of the signal resolver is connected with the actuator, the actuator drives the execution end module to act, whether the execution end module collides or not is detected through the collision detector, and the collision signal output end of the collision detector is connected with the input end of the first signal generator.
Preferably, the sensors include a lidar sensor, an ultrasonic sensor and a fall arrest sensor
Preferably, the collision detector employs a pressure sensor.
Preferably, the signal processing terminal comprises a first signal collector, a signal distributor and a PC, wherein an object signal input end of the first signal collector is connected with the robot end device through the first network cable, an output end of the first signal collector is connected with an input end of the signal distributor, an output end of the signal distributor is connected with the PC, and a control signal output end of the PC is connected with the second signal generator.
Preferably, the signal distributor consists of a voltage comparator and an amplifying circuit
The utility model discloses a test system has following advantage: 1. the robot and the sensor which support the Ethernet communication can be docked; 2. the test cost can be saved, and the test condition constraint can be reduced; 3. the test period can be shortened; 4. the internal interface of the test system can be repeatedly and flexibly configured; 5. the system can be tested and is convenient to install; 6. The obstacle avoidance function of the robot can be tested in a cross-scene mode.
Drawings
Fig. 1 is a system block diagram of the robot obstacle avoidance testing system based on the ethernet.
Detailed Description
The present invention will be further described with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that various changes and modifications of the present invention may be made by those skilled in the art after reading the teachings of the present invention, and these equivalents also fall within the scope of the appended claims.
As shown in fig. 1, the utility model provides a pair of robot keeps away barrier test system based on ethernet includes robot end equipment, signal control terminal, signal generator two.
The object signal output end of the robot end equipment is connected with the object signal input end of the signal control terminal through the first network cable, the control signal output end of the signal control terminal is connected with the input end of the second signal generator through the second network cable, and the output end of the second signal generator is connected with the control signal input end of the robot end equipment through the second network cable.
The robot end equipment comprises a signal sending end module, an execution end module and a second signal collector. The signal sending end module comprises a sensor and a signal generator I, and the sensor comprises a laser radar sensor, an ultrasonic sensor and a falling prevention sensor. The signal generator receives the sensing signal given by the sensor and also receives an impact signal output by an impact detector of the execution end module. And the object signal output end of the first signal generator is connected with the object signal input end of the first signal collector of the signal control terminal through the first network cable.
The control signal input end of the second signal collector is connected with the second signal generator through the second network cable, and the output end of the second signal collector is connected with the input end of the signal settlement device of the execution end module. The execution end module comprises a collision detector, an actuator and a signal resolver, wherein the collision detector adopts a pressure sensor, the actuator adopts a differential control mode, and the signal resolver adopts a PXI8880 controller. The input end of the signal resolver is connected with the output end of the second signal collector, the output end of the signal resolver is connected with the actuator, the actuator drives the execution end module to act, whether the execution end module collides or not is detected through the collision detector, and the collision signal output end of the collision detector is connected with the input end of the first signal generator.
The signal processing terminal comprises a first signal collector, a signal distributor and a PC, wherein the signal distributor consists of a voltage comparator and an amplifying circuit. An object signal input end of the first signal collector is connected with the robot end equipment through the first network cable, an output end of the first signal collector is connected with an input end of the signal distributor, an output end of the signal distributor is connected with the PC, and a control signal output end of the PC is connected with the second signal generator.
Among the above-mentioned components and parts, the laser radar sensor selects hokuyo URG series, and ultrasonic sensor selects PING series, and fall prevention sensor selects Arduino infrared sensor, and the collision detector selects interlink series pressure sensor, and signal collector one, signal collector two, signal generator one and signal generator two are ethernet input/output card compactDAQ 9181 series, and amplifier circuit selects IEPE integrated circuit for use, and L M339 series is selected to the voltage comparator.
The utility model discloses a theory of operation does: at the robot end, the laser radar sensor is responsible for scanning the obstacle condition of 270 degrees scopes around the robot, and when the laser radar sensor breaks down, when unable accurate judgement, the ultrasonic sensor is responsible for the obstacle prejudgement of three directions in the left place ahead of robot, dead ahead and right front. The anti-falling sensor is responsible for scene detection below the robot, and the robot is prevented from inclining or even falling down. The signal generator I sends a sensor signal to the signal collector I through a network cable, the sensor signal comprises an object signal, the signal collector sends the object signal to the signal distributor, and if necessary, the amplifier can amplify the signal sent by the signal collector, so that the signal is conveniently processed by the voltage comparator. The signal distributor divides the barrier information into different severity grades, including four grades of normal, general, more severe and severe, and when the grades are normal, the signal distributor filters and cannot send information to the PC; when the grades are normal, serious and serious, the signal distributor sends barrier information of different grades to the PC to complete the function of avoiding barriers. After the PC processes the signals, the second signal generator sends the control signals processed by the PC to the second signal collector through the second network cable, and the second signal collector sends the motor motion signals to the signal settlement device. The signal resolver is a common singlechip, and the singlechip converts a motor motion signal into a speed signal and a direction signal of the motor so as to drive the actuator to move. Because the actuator adopts a differential mode, the motor signal comprises the speed and the direction of each wheel, and the direction is a forward direction or a reverse direction. When the sensor detects special objects such as telegraph poles and the like, the robot collides with the special objects, and at the moment, the collision detector sends a collision signal to the signal collector through the signal generator to drive the robot to stop emergently.
Claims (5)
1. The utility model provides a robot keeps away barrier test system based on ethernet, a serial communication port, including robot end equipment, signal control terminal, signal generator two, robot end equipment's object signal output part links to each other with signal control terminal's object signal input part via net twine one, signal control terminal's control signal output part links to each other with signal generator two's input via net twine two, signal generator two's output is via the control signal input part of net twine two connection robot end equipment, wherein:
the robot end equipment comprises a signal sending end module, an execution end module and a signal collector II, wherein the signal sending end module comprises a sensor and a signal generator I, the signal generator I receives a sensing signal given by the sensor and also receives a collision signal output by the execution end module, and an object signal output end of the signal generator I is connected with an object signal input end of the signal control terminal through a network cable I;
the control signal input end of the second signal collector is connected with the second signal generator through the second network cable, the output end of the second signal collector is connected with the input end of the execution end module, the execution end module comprises a collision detector, an actuator and a signal resolver, the input end of the signal resolver is connected with the output end of the second signal collector, the output end of the signal resolver is connected with the actuator, the actuator drives the execution end module to act, whether the execution end module collides or not is detected through the collision detector, and the collision signal output end of the collision detector is connected with the input end of the first signal generator.
2. The Ethernet-based robot obstacle avoidance testing system of claim 1, wherein the sensors comprise lidar sensors, ultrasonic sensors, and anti-drop sensors.
3. The Ethernet-based robot obstacle avoidance testing system of claim 1, wherein the collision detector employs a pressure sensor.
4. The robot obstacle avoidance testing system based on the Ethernet as claimed in claim 1, wherein the signal control terminal comprises a first signal collector, a signal distributor and a PC, an object signal input end of the first signal collector is connected with the robot end device through the first network cable, an output end of the first signal collector is connected with an input end of the signal distributor, an output end of the signal distributor is connected with the PC, and a control signal output end of the PC is connected with the second signal generator.
5. The Ethernet-based robot obstacle avoidance testing system of claim 4, wherein the signal distributor is comprised of a voltage comparator and an amplifying circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922263019.6U CN211149272U (en) | 2019-12-16 | 2019-12-16 | Robot keeps away barrier test system based on ethernet |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922263019.6U CN211149272U (en) | 2019-12-16 | 2019-12-16 | Robot keeps away barrier test system based on ethernet |
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| CN211149272U true CN211149272U (en) | 2020-07-31 |
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| CN201922263019.6U Active CN211149272U (en) | 2019-12-16 | 2019-12-16 | Robot keeps away barrier test system based on ethernet |
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