Lurking AGV laser infrared obstacle avoidance system, including power supply, multiple point laser infrared sensors, isolated CAN transceiver, SDA, SCL, MCU, drive module, industrial computer and CAN bus, power supply to point laser infrared sensor, MCU, isolated CAN The transceiver is powered, the MCU accesses each point laser infrared sensor through a multi-channel analog serial bus, and saves the distance value collected by the point laser infrared sensor to the memory, and sends it to the isolated CAN transceiver through PDO, and the data is processed and transmitted to CAN bus, the industrial computer obtains the distance value transmitted by the MCU through the CAN bus, and then compares it with the displacement value of obstacle avoidance to obtain the result, and controls the drive module through the CAN bus.
The invention saves point laser infrared sensors, and can ensure that the obstacle avoidance area covers the whole body.
The acquisition frequency collects the distance between the external obstacle and itself. The MCU continuously accesses each point laser infrared sensor through a multi-channel analog serial bus and saves the distance value collected by the point laser infrared sensor to the memory, and presses the button through the communication protocol. At a fixed frequency, the distance value collected by the point laser infrared sensor stored in the memory is sent to the isolated CAN transceiver through the PDO method.
The isolated CAN transceiver processes the data and transmits it to the CAN bus. The industrial computer obtains the point laser infrared transmitted by the MCU through the CAN bus. The distance value collected by the sensor is compared with the displacement value of obstacle avoidance to obtain the result, and the driver module is controlled through the CAN bus to complete the obstacle avoidance.
