| 摘要 |
PURPOSE:To make a moving robot reach at a destination rapidly by outputting an encoded oscillation pulse from an ultrasonic distance sensor and recognizing the opposite robot on the basis of the direct decision of an input wave to execute shunting operation. CONSTITUTION:A CPU12, a ROM13 and a RAM14 storing a robot recognition code or the like are connected to a bus line 11 to form a mutual recognition device for moving robots. The CPU12 outputs a reference pulse having a specific robot recognizing code to the bus line 11 and applies the output to an ultrasonic oscillator 15 and a timer to drive an ultrasonic transmitter 18 through a driving circuit 17. An amplifier/detecting circuit 20 extracts a signal having a prescribed level or more from ultrasonic waves outputted from the self and opposite moving robots and received by a receiver 19 and applies the extracted signal to a timer 16 as a stop signal through a Schmitt trigger circuit 21 and a waveform shaping circuit 22. Consequently, the CPU12 decides whether the signal waveform obtained from said circuit is a signal outputted from the opposite robot or not to execute shunting operation or the like. |
