Robot programmable infrared obstacle avoidance apparatus

A robot and obstacle avoidance technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of occupying physical space, large volume, poor ability to suppress interference, etc., to achieve physical space reduction, high integration, and anti-interference strong interference effect

Inactive Publication Date: 2006-07-12
TIANJIN UNIV
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AI Technical Summary

Problems solved by technology

Since these infrared obstacle avoidance systems are made of ordinary analog and digital devices, they are not easy to change once they are made, and take up a lot of physical space
Another serious problem is the poor ability to suppress interference
These have led to the cumbersome debugging and use of the existing infrared obstacle avoidance system, large volume, and are easily affected by ambient light conditions

Method used

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  • Robot programmable infrared obstacle avoidance apparatus
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Embodiment Construction

[0019] The present invention will be described in detail below with reference to the accompanying drawings.

[0020] Before the present invention is further described in detail with reference to the accompanying drawings and specific embodiments, several abbreviations frequently used in the art and their full names in Chinese and English are listed first, and a brief description is given.

[0021] CPLD - Complex Programmable Logic Device (Complex Programmable Logic Device);

[0022] FPGA-Field Programmable Gate Array (Field Programmable Gate Array);

[0023] PAD-Programmable Analog Device;

[0024] JTAG-Joint Test Action Group;

[0025] CPU - Central Processing Unit.

[0026] CPLD is developing very rapidly, its capacity is getting larger and larger, its use is becoming more and more common, and its relative price is also decreasing, and it is widely used in modern circuit design. Recently, PAD has also received more and more attention. Its flexible use and simple programm...

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Abstract

The invention relates to a programmable infrared obstacle-avoided device of robot, which comprises a multi-path infrared emission unit, an infrared receiving unit, a band-pass filter circuit, a control/judgment circuit and a central processing element. Wherein, the band-pass filter comprises a band-pass filter circuit and a second online programming interface formed by programmable analogue devices to receive the signal transferred by every receiving unit and transfer the filtered signal to the control/judgment circuit; the control/judgment circuit comprises a control unit, a judgment unit and a first online programming interface formed by programmable digital devices; the control unit can distribute fixed frequency band or code to each emission unit and receiving unit and operate the trigger circuit of each emission unit; the judgment unit can judge that if the signal transferred from band-pass filter is the echo-wave signal of emission unit; and the circuits of control unit and judgment unit can be modified by the first online programming interface while the band-pass filter circuit can be modified by the second online programming interface. The invention is an optical-electrical obstacle-avoided device with online regulation, high integrated degree and strong anti-interference ability.

Description

technical field [0001] The invention relates to a photoelectric obstacle avoidance device, in particular to a fully autonomous mobile robot navigation and obstacle avoidance device. Background technique [0002] With the development of mobile robot technology and the improvement of its performance, its applications are becoming more and more extensive. For example, in the fully autonomous football robot competition, the robot is required to have high flexibility, strategy and good cooperation. If the robot cannot effectively avoid obstacles on the field, it will inevitably lead to the loss of the game. Therefore, the problem of robot avoiding obstacles in the competition field is very important. According to the published literature, before the present invention, mobile robots generally use independent photoelectric switches to avoid obstacles. Since these infrared obstacle avoidance systems are made of common analog and digital devices, they cannot be easily changed once ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J5/00
Inventor 孟庆浩梁琼王斌
Owner TIANJIN UNIV
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