CN105182346A - Composite barrier scanner and scanning method thereof - Google Patents
Composite barrier scanner and scanning method thereof Download PDFInfo
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- CN105182346A CN105182346A CN201510637931.7A CN201510637931A CN105182346A CN 105182346 A CN105182346 A CN 105182346A CN 201510637931 A CN201510637931 A CN 201510637931A CN 105182346 A CN105182346 A CN 105182346A
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- 230000004888 barrier function Effects 0.000 title claims abstract description 121
- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000002131 composite material Substances 0.000 title abstract 3
- 230000001360 synchronised effect Effects 0.000 claims abstract description 12
- 150000001875 compounds Chemical class 0.000 claims description 32
- 230000005540 biological transmission Effects 0.000 claims description 20
- 238000002604 ultrasonography Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 abstract description 5
- 230000003993 interaction Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 208000010877 cognitive disease Diseases 0.000 description 2
- 238000002329 infrared spectrum Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/04—Systems determining presence of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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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
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Geophysics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A composite barrier scanner and a scanning method thereof are provided. The scanner comprises a synchronous rotation system and a control processing system. The synchronous rotation system comprises a composite sensor base, a servo motor, a support, a rotary encoder and a rotary carrier head. The control processing system comprises a servo motor driving module, a barrier scanning master control module and a bus. The invention also provides a scanning method of the scanner. On one hand, the scanner can identify a barrier and the size of the barrier. A robot can use the scanner to better select a barrier processing mechanism, for example, choosing to stop waiting or to move around according to the size of the barrier, or making choices according to different barrier sizes. On the other hand, the scanner can determine whether the barrier is a person. The robot can use the scanner to obtain the information to know whether the barrier is a person or an object, so that the robot can deal with the barrier on the basis of the information, and interaction between the robot and a human can be achieved.
Description
Technical field
The present invention relates to location and navigation technology and robot field, especially relate to a kind of compound barrier scanner and scan method thereof.
Background technology
Along with the development of society and the raising of people's living standard, people are in daily life, also more and more higher to the requirement of smart machine.Robot, as assisting or the intelligent machine of alternative human work, is widely used in field of industrial production already; In recent years, some service robot has even entered into the family of people, and the life for people provides convenient.
Service robot industry is swift and violent in development recent years, has occurred, as amusement and leisure robot, disability auxiliary robot, professional clean robot, logistics purposes robot etc. have much the service robot of novelty and practicality, improving the life of people.At present, although robot industry development progress is obvious, there is a technical bottleneck in existing movable machine people, is exactly location navigation problem.Existing robot localization airmanship mainly contains following several: 1, based on the contact air navigation aid of collision type; Crash sensor is installed in robot by this method, and when robot collides, crash sensor can obtain signal, and sends signal to robot body, thus changes the driving path of robot; In this method, robot needs, by ability disturbance of perception thing after object collision, easily to damage some breakables, and intelligent not; 2, based on the air navigation aid of overall GPS; As document CN102478657A discloses a kind of self-navigation robot system, by receiving gps signal, providing navigation information to robot, realizing controlling the operation of robot; In such a system, although GPS can provide the detailed location information of robot, but cannot judge the barrier (as stone, trees etc.) on machine People's Bank of China pathway, robot cut-through thus cannot be allowed to move ahead; 3, based on the air navigation aid of ultrasonic sensor, infrared ray sensor or laser sensor; As document CN104536447A discloses a kind of Indoor Robot guider, by transmitting and receiving the distance that hyperacoustic signal comes between robot measurement and barrier, thus disturbance in judgement thing position, and take workaround to dodge barrier.
At present, in the environment of indoor, if adopt ultrasound wave to position robot, positioning precision can be made to reach a high level, but still there is the problem of following two aspects in ultrasound wave location technology:
One, scan in barrier on robot ambulation path; , still there is following a few point defect: the size 1, having no idea to distinguish barrier in a kind of Indoor Robot guider disclosed in document CN104536447A; When using robot, if the barrier in front is too small, then can not cause obstacle to robot, and the method described in document CN104536447A cannot distinguish barrier size, causing robot to run into small object also can it can be used as barrier to get around, and has done many idle works; 2, have no idea to distinguish whether barrier is people; Usually, when indoor use robot, unavoidable meeting runs into people and article, and people is generally mobile, article are generally fixing, and robot evades the mode that people and object adopt and should be not quite similar, method described in document CN104536447A cannot distinguish whether barrier is people, causing robot still to adopt intrinsic bypassing method when running into people, probably correctly cannot avoid people, thus the interpersonal collision of machine occurs;
Two, in positioning ultrasonic path; What first need the synchronizing signal of a light velocity level (as wireless signal) to realize on ranging time is synchronous, then calculates the current situation of robot by the data of the supersonic wave beacon received.And in common use procedure, between robot and supersonic wave beacon, usually can have barrier, ultrasound wave is met with obstruction in transmitting procedure, but this mode can cause when resolving robot current location, there is certain deviation in data; Thus, when there is barrier between robot and supersonic wave beacon, need another one supersonic wave beacon in system to position robot; Before realizing the exchange between supersonic wave beacon, must by a kind of scanner, for judging whether size and the barrier of barrier are people, because when exchanging, if barrier is too small, then can not affect hyperacoustic transmission, barrier is if the people that can move, the way of dodging of robot can be wait for or greet it leaving, inconsistent with the method dodging fixed object.
Summary of the invention
The object of the invention is, overcome the above-mentioned deficiency of prior art, and a kind of compound barrier scanner and scan method thereof are provided, have can cognitive disorders thing and barrier size and barrier can be judged whether as the feature of people.
Technical scheme of the present invention is: a kind of compound barrier scanner, comprises synchronous rotation system and control treatment system; Wherein:
Synchronous rotation system comprises compound sensor seat, servomotor, support, rotary encoder and rotation boarded head; Servomotor is rack-mount; Compound sensor seat is arranged on the upper end of servomotor by rotating boarded head, the lower end of servomotor is provided with independently rotary encoder; Compound sensor seat is provided with ultrasonic transmission/reception sensor and human body sensor.
Control treatment system comprises: driven by servomotor module, barrier scanning main control module and bus; Driven by servomotor module is connected with servomotor, for controlling the anglec of rotation of servomotor; Obstacle scanning main control module is connected with compound sensor seat, driven by servomotor module, rotary encoder and bus, respectively for ACTIVE CONTROL, also for the treatment of data; Bus is used for transceiving data;
Ultrasonic transmission/reception sensor and human body sensor, by integrated on compound sensor seat for the information data obtained, are transferred to barrier scanning main control module.
Further, sound-absorbing pipe is installed in the front end of described ultrasonic transmission/reception sensor, the angle that sound-absorbing pipe receives for narrowing ultrasound wave; Carry out detecting with when scanning at use ultrasound wave to barrier, hyperacoustic energy is diffusion, and the angle that sound-absorbing pipe receives by narrowing ultrasound wave by the concentration of energy ultrasonic sensing axis of ultrasonic transmission/reception, thus improves the effect of detection better.
Further, described rotary encoder is absolute encoder.Reason is: absolute encoder can be decided the uniqueness of each position by mechanical location, has without the need to memory, without the need to looking for the feature of reference point, at any time load position information; In the invention process process, need the input according to user and change angle, thus optimal selection absolute encoder.
Further, described ultrasonic transmission/reception sensor comprises: ultrasonic signal amplifier and ultrasonic signal transceiver; Wherein:
Ultrasonic signal amplifier is used for amplifying ultrasonic signal;
Ultrasonic signal transceiver is used for sending and receiving ultrasound wave;
When needs transmitting and receiving ultrasound wave, by ultrasonic signal transceiver, ultrasonic transmission/reception sensor is made externally to launch ultrasonic signal, now, ultrasonic signal amplifier can amplify ultrasonic signal, when ultrasonic signal run into barrier reflect time, after being received by ultrasonic transmitter-receiver, then amplified by ultrasonic signal amplifier.
Further, described barrier scanning main control module comprises single-chip microcomputer main control module and ultrasonic distance measuring module; Wherein:
Single-chip microcomputer main control module is for controlling driven by servomotor module, ultrasonic signal transceiver; After single-chip microcomputer main control module receives the data that bus sends, according to Data Control driven by servomotor module and ultrasonic signal transceiver, automatic control can be completed;
The data that ultrasonic distance measuring module feeds back for the treatment of rotary encoder and compound sensor seat, and judge that robot has in the front of specified angle whether clear, barrier size and barrier are people; The data that ultrasonic distance measuring module is fed back by reception rotary encoder and compound sensor seat, and data are processed, can realize judging that robot has clear, distance, barrier size and barrier between robot and barrier to be whether the functions of people in the front of specified angle, its principle is:
1, barrier is determined whether: ultrasound wave can reflect when running into barrier;
2, judging the distance between robot and barrier: ultrasound wave is launched when running into barrier, there is the regular hour between reflection supersonic wave and former ultrasound wave poor, the distance between robot and barrier can be calculated by this mistiming;
3, the size of disturbance in judgement thing: ultrasound wave is launched when scanning barrier, reflection supersonic wave ultrasonic sensor and barrier in different angles time the energy intensity that reflects on there is certain difference, in scanning process, can judgment object size by the variable quantity of ultrasonic energy intensity;
4, whether disturbance in judgement thing is people: human body itself can launch the infrared ray of certain wavelength, human body sensor is according to this characteristic, receive the infrared ray that barrier is launched, if this infrared ray is the infrared spectrum of human body, then human inductor can send data, illustrates that barrier is behaved; If this infrared ray is outside the infrared spectrum scope of human body, then human inductor can send data, illustrates that barrier is not people.
Further, described bus is CAN.
Further, a kind of scan method of described compound barrier scanner, is characterized in that: comprise the following steps:
Step one, the instruction come by bus reception outside, and the single-chip microcomputer main control module in barrier scanning main control module is passed in instruction;
Whether step 2, single-chip microcomputer main control module decision instruction be effective; As invalid, then directly abandon; As effectively, will decompose instruction, therefrom get scanning angle range information;
Step 3, according to instruction need test angle and angular range, single-chip microcomputer master control module controls driven by servomotor module, drive servomotor swing in the angular range of instruction, the angle that the absolute encoder synchronous feedback coaxial with servomotor swings to; Meanwhile, single-chip microcomputer master control module controls ultrasonic signal emitters drives ultrasonic transmission/reception sensor; In the process, the angular range that instruction needs is decomposed into N number of point by single-chip microcomputer main control module, and (N is specified by single-chip microcomputer main control module, relevant to the rotating speed of servomotor, scanning angle scope), servomotor will put pause certain hour at these respectively, ultrasonic transmission/reception sensor on compound sensor seat and human body sensor will be tested in these pause points, get the data (ultrasound wave time of return and intensity) in these points, it is exactly the data scanned that the data of this N number of test point string successively;
Step 4, ultrasonic transmission/reception sensor, human body sensor and rotary encoder image data, data set is synthesized scan-data feed back to barrier scanning main control module in ultrasonic distance measuring module;
Step 5, ultrasonic distance measuring module process scan-data, and whether determine has clear, barrier size and barrier to be people in the angle of specifying;
Final result of determination is outwards sent by bus by step 6, barrier scanning main control module: if do not have barrier, then send the data-signal of application angle clear; If there is barrier, then send that the size of barrier on this aspect, distance are how many, data-signal that whether barrier is people.
The present invention compared with prior art has following features:
1, the size whether having barrier and cognitive disorders thing can be detected; By scanning and data processing, barrier can be calculated and whether exist and the size of barrier.Robot can choice for use barrier treatment mechanism better by the present invention.During as being applied to the scanning of barrier on robot ambulation road, can select be stop detouring when also waiting for according to barrier size.During as being applied to the scanning of positioning ultrasonic path, can for the difference of barrier size, make corresponding disposal, when the barrier run into is larger, when will have an impact to measurement result, other beacons can be selected in time to position robot, there will not be the positioning error because ultrasonic wave path problem on obstacle produces, when the barrier run into is less, can not to when having influence on measuring accuracy, the beacon module in original planning can be used to position, make robot positioning system more intelligent;
2, barrier can be judged whether as people: by human inductor to the induction of barrier and follow-up data processing, judge barrier whether as people.When barrier is behaved, supply information to robot, robot is adopted and stays where one is, pending further orders or greet and please its mode left evade; When barrier is inhuman, supply information to robot, make robot adopt conventional workaround to evade this barrier; Robot can obtain by the present invention the information that barrier is people or thing, carries out the foundation of being correlated with when disposing, and realize the interaction of robot and the mankind to provide robot.
Accompanying drawing explanation
Fig. 1-be structural representation of the present invention;
Fig. 2-be ultrasonic transmission/reception sensor construction schematic diagram of the present invention;
Fig. 3-be barrier scanning main control module schematic diagram of the present invention;
Fig. 4-be process flow diagram of the present invention.
In figure: 1-synchronous rotation system, 2-control treatment system, 3-compound sensor seat, 4-servomotor, 5-support, 6-rotary encoder, 7-driven by servomotor module, 8-barrier scanning main control module, 9-bus, 10-sound-absorbing pipe, 11-carry rotating head, 31-ultrasonic transmission/reception sensor, 32-human body sensor, 81-single-chip microcomputer main control module, 82-ultrasonic distance measuring module, 311-ultrasonic signal amplifier, 312-ultrasonic signal transceiver.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
With reference to accompanying drawing: a kind of compound barrier scanner, comprises synchronous rotation system 1 and control treatment system 2; Wherein:
Synchronous rotation system 1 comprises compound sensor seat 3, servomotor 4, support 5, rotary encoder 6 and rotates boarded head 11; Servomotor 4 is arranged on support 5; Compound sensor seat 3 is arranged on the upper end of servomotor 4 by rotating boarded head 11, the lower end of servomotor 4 is provided with independently rotary encoder 6; Compound sensor seat 3 is provided with ultrasonic transmission/reception sensor 31 and human body sensor 32.
Control treatment system 2 comprises: driven by servomotor module 7, barrier scanning main control module 8 and bus 9; Driven by servomotor module 7 is connected with servomotor 4, for controlling the open and close of servomotor 4; Obstacle scanning main control module 8 is connected with compound sensor seat 3, driven by servomotor module 7, rotary encoder 6 and bus 9, respectively for ACTIVE CONTROL, also for the treatment of data; Bus 9 is for transceiving data; As preferably, bus 9 is CAN.
The front end of described ultrasonic transmission/reception sensor 31 is provided with the sound-absorbing pipe 10 for narrowing ultrasound wave receiving angle.
Described rotary encoder 6 is absolute encoder.
Described ultrasonic transmission/reception sensor 31 comprises: ultrasonic signal amplifier 311 and ultrasonic signal transceiver 312; Wherein:
Ultrasonic signal amplifier 311 is for amplifying ultrasonic signal;
Ultrasonic signal transceiver 312 is for sending and receiving ultrasound wave.
Described barrier scanning main control module 8 comprises single-chip microcomputer main control module 81 and ultrasonic distance measuring module 82; Wherein:
Single-chip microcomputer main control module 81 is for controlling driven by servomotor module 7 and ultrasonic signal transceiver 311;
The data that ultrasonic distance measuring module 82 feeds back for the treatment of rotary encoder 6 and compound sensor seat 3, and whether determine whether barrier, barrier size and barrier be people.
The concrete using method of the present embodiment, as shown in Figure 4:
S41: receive outside next instruction by bus 9, and barrier scanning main control module 8 is passed in instruction;
Particularly, bus 9, after receiving outside next instruction, can pass to instruction the single-chip microcomputer main control module 81 in barrier scanning main control module 8;
S42: whether barrier scanning main control module 8 decision instruction is effective;
Particularly, the single-chip microcomputer main control module 81 in barrier scanning main control module 8 can judge that whether this instruction is effective upon receipt of the instructions: as invalid, then directly abandon; As effectively, will decompose instruction, therefrom get scanning angle information;
S43: barrier scanning main control module 8, according to scanning angle information, controls servomotor 4 and swings;
Particularly, angle (45 °) and the angular range (40 ~ 50 °) of test is needed according to instruction, single-chip microcomputer main control module 81 on barrier scanning main control module 8 controls driven by servomotor module 7, servomotor 4 (40 ° ~ 50 °) in this angular range is driven to swing, and drive compound sensor seat 3 to swing, the angle that absolute encoder 6 synchronous feedback swings to; Meanwhile, single-chip microcomputer main control module 81 controls ultrasonic signal transceiver 311 and drives ultrasonic transmission/reception sensor 31; The angular range that instruction needs is decomposed into 50 points by single-chip microcomputer main control module 81, and servomotor 4 is respectively at these some pause certain hours;
S44: acquisition scans data, feeds back to barrier scanning main control module 8 by scan-data;
Particularly, ultrasonic transmission/reception sensor 31 in synchronous rotation system 1 and human body sensor 32 will be tested in these pause points, get the data (ultrasound wave time of return and intensity) in these points, data in the data of these 50 test points and rotary encoder 6 string successively, acquisition be exactly the data of scanning;
S45: barrier scanning main control module 8 pairs of scan-datas process;
Particularly, the ultrasonic distance measuring module 82 pairs of scan-datas in barrier scanning main control module 8 process, and determine in the angle of specifying, have clear, barrier size and barrier whether to be people;
S46: final result of determination is outwards sent by bus 9 by barrier scanning main control module 8;
Particularly, final result of determination is outwards sent by bus 9 by the ultrasonic distance measuring module 82 in barrier scanning main control module 8: if do not have barrier, then send the data-signal of application angle clear; If there is barrier, then send that the size of barrier on this aspect, distance are how many, data-signal that whether barrier is people.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technology thereof, then the present invention is also intended to comprise these change and modification.
Claims (7)
1. a compound barrier scanner, is characterized in that: comprise synchronous rotation system (1) and control treatment system (2); Wherein:
Synchronous rotation system (1) comprises compound sensor seat (3), servomotor (4), support (5), rotary encoder (6) and rotates boarded head (11); Servomotor (4) is arranged on support (5); Compound sensor seat (3) is arranged on the upper end of servomotor (4) by rotating boarded head (11), the lower end of servomotor (4) is provided with independently rotary encoder (6); Compound sensor seat (3) is provided with ultrasonic transmission/reception sensor (31) and human body sensor (32);
Control treatment system (2) comprising: driven by servomotor module (7), barrier scanning main control module (8) and bus (9); Driven by servomotor module (7) is connected with servomotor (4), for controlling the anglec of rotation of servomotor (4); Obstacle scanning main control module (8) is connected with compound sensor seat (3), driven by servomotor module (7), rotary encoder (6) and bus (9) respectively, and obstacle scans main control module (8) for ACTIVE CONTROL, also for the treatment of data; Bus (9) is for transceiving data.
2. compound barrier scanner as claimed in claim 1, is characterized in that: the front end of described ultrasonic transmission/reception sensor (31) is provided with the sound-absorbing pipe (10) for narrowing ultrasound wave receiving angle.
3. compound barrier scanner as claimed in claim 1 or 2, is characterized in that: described rotary encoder (6) is absolute encoder.
4. compound barrier scanner as claimed in claim 1 or 2, is characterized in that: described ultrasonic transmission/reception sensor (31) comprising: ultrasonic signal amplifier (311) and ultrasonic signal transceiver (312); Wherein:
Ultrasonic signal amplifier (311) is for amplifying ultrasonic signal;
Ultrasonic signal transceiver (312) is for sending and receiving ultrasound wave.
5. compound barrier scanner as claimed in claim 1 or 2, is characterized in that: described barrier scanning main control module (8) comprises single-chip microcomputer main control module (81) and ultrasonic distance measuring module (82); Wherein:
Single-chip microcomputer main control module (81) is for controlling driven by servomotor module (7) and ultrasonic signal transceiver (311);
The data that ultrasonic distance measuring module (82) feeds back for the treatment of rotary encoder (6) and compound sensor seat (3), and whether determine whether barrier, barrier size and barrier be people.
6. compound barrier scanner as claimed in claim 1 or 2, is characterized in that: described bus (9) is CAN.
7. the scan method of compound barrier scanner according to any one of right 1 ~ 6, is characterized in that: comprise the following steps:
, by bus (9) receive outside come instruction, and barrier scanning main control module (8) is passed in instruction;
, barrier scanning main control module (8) decision instruction whether effective;
, barrier scanning main control module (8) according to scanning angle information, control servomotor (4) swing;
, acquisition scans data, scan-data is fed back to barrier scanning main control module (8);
, barrier scanning main control module (8) scan-data is processed;
, final result of determination outwards sent by bus (9) by barrier scanning main control module (8).
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| CN201510637931.7A CN105182346A (en) | 2015-09-30 | 2015-09-30 | Composite barrier scanner and scanning method thereof |
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| CN105843176A (en) * | 2016-05-24 | 2016-08-10 | 深圳市无牙太赫兹科技有限公司 | Three-dimensional holographic-imaging servo rotating scanning system |
| CN105938195A (en) * | 2016-04-13 | 2016-09-14 | 云南电网有限责任公司电力科学研究院 | Ultrasonic-rotation-scanning-based obstacle avoiding method |
| CN108634870A (en) * | 2018-03-26 | 2018-10-12 | 深圳市赛亿科技开发有限公司 | A kind of Robot Cleaner Controlling System method and system based on Internet of Things |
| CN108634862A (en) * | 2018-03-26 | 2018-10-12 | 深圳市赛亿科技开发有限公司 | A kind of Robot Cleaner Controlling System method and system |
| CN108670139A (en) * | 2018-03-26 | 2018-10-19 | 深圳市赛亿科技开发有限公司 | A kind of multifunctional dust vacuum cleaner control method and system |
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| CN109645887A (en) * | 2017-10-11 | 2019-04-19 | 日立空调·家用电器株式会社 | Self-propelled vacuum cleaner, self-propelled vacuum cleaner system, and moving body |
| CN110088701A (en) * | 2016-12-22 | 2019-08-02 | 德国福维克控股公司 | Operation method and this cleaning equipment for self-propelled cleaning equipment |
| WO2021121079A1 (en) * | 2019-12-18 | 2021-06-24 | 京东数科海益信息科技有限公司 | Control device of lifting platform for detection device and detection device |
| JP7502520B2 (en) | 2019-03-19 | 2024-06-18 | パナソニックホールディングス株式会社 | ROBOT, ROBOT CONTROL METHOD AND PROGRAM |
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| CN110088701A (en) * | 2016-12-22 | 2019-08-02 | 德国福维克控股公司 | Operation method and this cleaning equipment for self-propelled cleaning equipment |
| CN109645887A (en) * | 2017-10-11 | 2019-04-19 | 日立空调·家用电器株式会社 | Self-propelled vacuum cleaner, self-propelled vacuum cleaner system, and moving body |
| CN108634870A (en) * | 2018-03-26 | 2018-10-12 | 深圳市赛亿科技开发有限公司 | A kind of Robot Cleaner Controlling System method and system based on Internet of Things |
| CN108670139A (en) * | 2018-03-26 | 2018-10-19 | 深圳市赛亿科技开发有限公司 | A kind of multifunctional dust vacuum cleaner control method and system |
| CN108634862A (en) * | 2018-03-26 | 2018-10-12 | 深圳市赛亿科技开发有限公司 | A kind of Robot Cleaner Controlling System method and system |
| CN109343521A (en) * | 2018-09-27 | 2019-02-15 | 深圳乐动机器人有限公司 | A kind of robot cleans the method and robot in room |
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Application publication date: 20151223 |