CN101436039A - Intelligent mowing robot control system - Google Patents

Intelligent mowing robot control system Download PDF

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Publication number
CN101436039A
CN101436039A CNA2007100480865A CN200710048086A CN101436039A CN 101436039 A CN101436039 A CN 101436039A CN A2007100480865 A CNA2007100480865 A CN A2007100480865A CN 200710048086 A CN200710048086 A CN 200710048086A CN 101436039 A CN101436039 A CN 101436039A
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CN
China
Prior art keywords
pin
circuit
microprocessor
signal
output signal
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Pending
Application number
CNA2007100480865A
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Chinese (zh)
Inventor
魏庆前
应卫强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHANGHAI CHUANGHUI ROBOT TECHNOLOGY Co Ltd
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SHANGHAI CHUANGHUI ROBOT TECHNOLOGY Co Ltd
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Application filed by SHANGHAI CHUANGHUI ROBOT TECHNOLOGY Co Ltd filed Critical SHANGHAI CHUANGHUI ROBOT TECHNOLOGY Co Ltd
Priority to CNA2007100480865A priority Critical patent/CN101436039A/en
Publication of CN101436039A publication Critical patent/CN101436039A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a control system for an intelligent mowing robot, which is suitable for service such as green land maintenance in places of families, public service spaces and so on. The control system is characterized in that the control system comprises a main control unit of a singlechip, an A/D converter, a voltage detection circuit, a gas detection circuit, a particle flow detection circuit, an anti-collision circuit, a ground infrared anti-falling circuit, a navigation circuit, a driving circuit and a power supply circuit. Through singlechip control and infrared transceiving technology, the proposal that a direct self-adapter performs track control to the robot is adopted; and the pulse width modulation (PWM) is segmented to stepwise output the PWM with a frequency of between 1 and 3kHz, which occupies short CPU time. Compared with the prior mowing machine, the control system for the intelligent mowing robot can automatically navigate, avoid obstacles, detect and operate, and does not need manual operation; and the design has the advantages of simple structure, low cost, good reliability, and strong anti-jamming ability.

Description

A kind of intelligent mowing robot control system
Technical field
The present invention relates to a kind of intelligent mowing robot control system.Be applicable to and carry out services such as greenery patches nursing in places such as family, public service spaces.
Background technology
At present, robot mostly uses the contact sensor and realizes robot autonomous navigation, this type systematic ratio of precision is higher, must utilize ultrasound data, identification and tracking road edge, ultrasound data is combined with view data, predict the barrier possible position, make robot dynamically realize independent navigation in the destructuring environment by the good neural network of precondition.Family expenses service type robot is because the factor of manufacturing cost and production technology, above technology difficulty comparatively then on using, and in addition, existing robots also exists artificial participation hyperpraxia, power consumption height, problem such as noise is big.
Summary of the invention
The technical problem to be solved in the present invention is: a kind of intelligent robot control system that realizes self-navigation, keeps away barrier, detects and operate with single-chip microcomputer and infrared ray transmit-receive technology is provided.
The technical solution adopted in the present invention is: a kind of intelligent robot control system, it is characterized in that this control system comprises single-chip microcomputer main control unit, A/D converter, voltage detecting circuit, Detection Circuit, grain flux testing circuit, crashproof circuit, infrared dropproof circuit, navigation circuit, driving circuit and power circuit over the ground, wherein:
The single-chip microcomputer main control unit is made up of microprocessor A and microprocessor B, is connected to each other by function end pin between microprocessor A, microprocessor B and the A/D converter, realizes the exchanges data and the operation of control system;
The output signal of voltage detecting circuit is delivered to the pin 2 of processor B, is used for the voltage of supervisory system;
The output signal of Detection Circuit is delivered to the pin 8 of microprocessor B, is used to judge the overall quality of air;
The grain flux testing circuit is by a pair of infrared emission, receiving tube acquired signal, and the electric signal of output is sent to the pin 19 of A/D converter, converts the laggard processor A in a subtle way of digital signal to and handles, and output signal is used for control Driver Circuit;
Crashproof circuit is by two pairs of infrared emission, receiving tube acquired signal, and two road signals of output are transported to pin 9 and the pin 11 of microprocessor B respectively, and output signal is used for control Driver Circuit;
Infrared over the ground dropproof circuit is by four pairs of infrared emission, receiving tube acquired signal, and its output signal inserts pin 40, pin 7, pin 5, the pin 8 of microprocessor A after amplifying, and output signal is used for control Driver Circuit;
The navigation circuit is by four pairs of infrared emission, receiving tube and two pairs of Hall element acquired signal, and output signal is through multi-way switch circuit U 4After output to operational amplifier U 2Carry out signal Processing, the signal of handling is through U 2Pin 7 pin 14 that exports A/D converter to carry out the A/D conversion, the digital signal after the conversion enters microprocessor A and handles, output signal is used for control Driver Circuit;
Driving circuit is accepted the control of microprocessor A, by four figures value comparer U 9, U 10, motor driver U 11With crystal oscillating circuit U 8Form U 9, U 10Sampled level is by U 8Pin 3,4,5,6 behind 4M crystal oscillator frequency division, obtain U 11Output signal control the direction and the speed of two reducing motors respectively.
The invention has the beneficial effects as follows:, adopt direct self-adaptation device robot to be carried out the scheme of TRAJECTORY CONTROL by Single-chip Controlling and infrared ray transmit-receive technology; Carry out width modulation (PWM) segmentation, the PWM of step-by-step movement output 1Hz～3kHz, the CPU time that it takies is short.Can realize the service type robot self-navigation, keep away barrier, detect and operation, need not manual operation, this design simple in structure, cost is low, good reliability, antijamming capability are strong.
Description of drawings
Fig. 1 is a system construction drawing of the present invention.
Fig. 2-the 1st, principle of the present invention is always schemed.
Fig. 2-the 2nd, another principle of the present invention is always schemed.
Fig. 3 is the schematic diagram of voltage detecting circuit among Fig. 2-2.
Fig. 4 is the schematic diagram of Detection Circuit among Fig. 2-2.
Fig. 5 is the schematic diagram of grain flux testing circuit among Fig. 2-1.
Fig. 6 is the schematic diagram of crashproof circuit among Fig. 2-2.
Fig. 7 is the schematic diagram of infrared dropproof circuit over the ground among Fig. 2-1.
Fig. 8 is the schematic diagram of navigation circuit among Fig. 2-1.
Fig. 9 is the schematic diagram of driving circuit among Fig. 2-1.
Figure 10 is the schematic diagram of power circuit among Fig. 2-1.
Figure 11 is the schematic diagram of power switch circuit among Fig. 2-1.
Figure 12 is the schematic diagram of blower fan and warning circuit among Fig. 2-1.
Embodiment
As shown in Figure 1, present embodiment is by microprocessor A1, microprocessor B2, A/D converter 3, voltage detecting circuit 4, Detection Circuit 5, grain flux testing circuit 6, crashproof circuit 7, infrared dropproof circuit 8, navigation circuit 9, driving circuit 10 and power circuit 11 are formed over the ground.
As Fig. 2, shown in Figure 3, microprocessor A (U 12Model 68HC705C9A is hereinafter to be referred as U 12) 1 and microprocessor B (U 301Model AT89C2051 is hereinafter to be referred as U 301) 2 composition single-chip microcomputer main control units, single-chip microcomputer main control unit and A/D converter 3 (U 3Model 68HC68 is hereinafter to be referred as U 3) between be connected to each other by function end pin, realize the exchanges data and the operation of control system.
Voltage detecting circuit 4 is by resistance R 301, R 302, R 303, W 1Form sample circuit, sampling voltage is transported to comparer U after dividing potential drop 300A(model LM393), U 300APin 2 nearly 2.5V about voltage, and if the voltage of U300A pin 3 this current potential after dividing potential drop is higher than the current potential of pin 2, the pin of U300A 1 output high level, otherwise output low level, output signal is delivered to U 301Pin 2, be used for the voltage of supervisory system and light LED.
Gas probe in the Detection Circuit 5 detects air quality when seriously polluted, by J 303Pin 3 output high level signals, deliver to comparer U 300B Pin 6, with U 300BPin 5 do current potential relatively because pin 6 be a reverse input end, U at this moment 300BPin 7 output low levels, deliver to U 301Pin 8.If air quality is good, U then 300B Pin 7 output high level.Resistance R 323, W 2, C 306Form a reference voltage circuit.
Grain flux testing circuit 6 is by JP 7Pin 4,5 conducting 5V infrared emission tubes, this pipe and JP 9The receiving tube of pin 5 form correlation, when the solid particle disturbance, the infrared ray quantities received is reduced, form low level, directly transmit a signal to U 3Pin 19, convert the laggard microprocessor U of going into of digital signal to 12Handle, output signal is used for control Driver Circuit 10.
Crashproof circuit 7 is by two pairs of infrared emission, receiving tube IR 5, IR 6Acquired signal is from J 302Pin 1, pin 4 outputs two road signals, respectively through triode Q 302, Q 303Transport to microprocessor U after the amplification 301Pin 11 and pin 9, output signal is used for control Driver Circuit 10.
Infrared over the ground dropproof circuit 8 is by four pairs of infrared emission, receiving tube acquired signal, and the input signal of infrared receiving tube is passed to JP respectively 9 Pin 7, JP 7Pin 1, JP 5Pin 3, JP 2Pin 5, its output signal is passed through JP respectively 9 Pin 7, JP 7Pin 1, JP 5Pin 3, JP 2Pin 5 be transported to triode Q 801, Q 802, Q 803, Q 804Base stage, signal inserts microprocessor U after amplifying 12 Pin 40, pin 7, pin 5, pin 8, output signal is used for control Driver Circuit 10.
Navigation circuit 9 is by four pairs of infrared emission, receiving tube and two pairs of Hall element acquired signal, infrared receiving tube IR 1, IR 2, IR 3, IR 4Input signal deliver to multi-way switch circuit U respectively 4The pin 11,12,15,14 of (model MC14052B), the output signal of U4 outputs to U by pin 13,3 2The pin 13,10 of (model TLV2274M) carries out signal Processing, and the signal of handling is through U 2Pin 7 export U to 3 Pin 14 carry out A/D conversion, the digital signal after the conversion enters microprocessor U 12Handle, output signal is used for control Driver Circuit 10.
Hall element H 1, H 2Output signal be transported to U 3Pin 9 and pin 11, enter microprocessor U through the time sequential pulse after the A/D conversion 12Pin 34,35, the turning to of motor in the control Driver Circuit 10 after the CPU computing.
Driving circuit 10 is accepted microprocessor U 12Control, by four figures value comparer U 9(model MC74HC85) and U 10(model MC74HC85), motor driver U 11(model L6204) and crystal oscillating circuit U 8(model SN74HC393) forms.Control signal is by microprocessor U 12Pin 13,14,15,16 pin export four figures value comparer U to 9 Pin 10,12,13,15, microprocessor U 12 Pin 18,19,20,21 export four figures value comparer U to 10 Pin 10,12,13,15, after judging, one road U wherein 9 Pin 7 and pin 5 output to U 11Pin 9 and pin 12, again by U 11Pin 4 and pin 18 output, control JP 2The speed of right reducing motor of pin 1,2; Another road U 10Pin 7 and pin 5 output to U 11Pin 2 and pin 19, by U 11Pin 7 and pin 13 output, control JP 5The speed of pin 1,2 left reducing motors.U 9, U 10Sampled level by U 8Pin 3,4,5,6 behind 4M crystal oscillator frequency division, obtain.
Power circuit 11, the 12V cell voltage is through three-terminal voltage-stabilizing pipe U 5After (model 78L05) voltage stabilizing, output 5V voltage, supply equipment power supply.U wherein 13Be main 5V, supply with CPU and peripheral hardware thereof, U 5For from 5V, supply with probe and U 2, U 6(model TLV2272M).
Power switch circuit, when pressing power supply and " open " key, Q 5Base stage be in high level, Q 5Conducting, relay adhesive, U 12After energising, pin Q from pin 12 output high level 5Base potential, allow relay be in attracting state always.When pressing " pass " key, Q 5Base stage be low level, triode ends, relay disconnects.
Blower fan and warning circuit, in the time will starting the 12V motor, U 12 Pin 10 output high level, Q 6Conducting, blower fan is started working.R 15Be pull down resistor, R 1Be protective resistance.In like manner, when equipment when needs are alarmed, U 12Pin 9 output high level, Q 3Conducting, hummer get the electric alarm sound that sends.

Claims (9)

1, a kind of intelligent mowing robot control system, it is characterized in that this control system comprises single-chip microcomputer main control unit, A/D converter (3), voltage detecting circuit (4), Detection Circuit (5), grain flux testing circuit (6), crashproof circuit (7), infrared dropproof circuit (8), navigation circuit (9), driving circuit (10) and power circuit (11) over the ground, wherein:
2, the single-chip microcomputer main control unit is made up of microprocessor A (1) and microprocessor B (2), is connected to each other by function end pin between microprocessor A (1), microprocessor B (2) and the A/D converter (3), realizes the exchanges data and the operation of control system;
3, the output signal of voltage detecting circuit according to claim 1 (4) is delivered to the pin 2 of processor B (2), is used for the voltage of supervisory system;
4, the output signal of Detection Circuit according to claim 1 (5) is delivered to the pin 8 of microprocessor B (2), is used to judge the overall quality of air;
5, grain flux testing circuit according to claim 1 (6) is by a pair of infrared emission, receiving tube acquired signal, the electric signal of output is sent to the pin 19 of A/D converter (3), convert the laggard processor A in a subtle way of digital signal (1) to and handle, output signal is used for control Driver Circuit (10);
6, crashproof circuit according to claim 1 (7) is by two pairs of infrared emission, receiving tube acquired signal, and two road signals of output are transported to pin 9 and the pin 11 of microprocessor B (2) respectively, and output signal is used for control Driver Circuit (10);
7, infrared over the ground dropproof circuit according to claim 1 (8) is by four pairs of infrared emission, receiving tube acquired signal, its output signal inserts pin 40, pin 7, pin 5, the pin 8 of microprocessor A (1) after amplifying, output signal is used for control Driver Circuit (10);
8, navigation circuit according to claim 1 (9) is by four pairs of infrared emission, receiving tube and two pairs of Hall element acquired signal, and output signal is through multi-way switch circuit U 4After output to operational amplifier U 2Carry out signal Processing, the signal of handling is through U 2Pin 7. pin 14 that exports A/D converter (3) to carry out the A/D conversion, the digital signal after the conversion enters microprocessor A (1) and handles, output signal is used for control Driver Circuit (10);
9, driving circuit according to claim 1 (10) is accepted the control of microprocessor A (1), by four figures value comparer U 9, U 10, motor driver U 11With crystal oscillating circuit U 8Form U 9, U 10Sampled level is by U 8Pin 3,4,5,6 behind 4M crystal oscillator frequency division, obtain U 11Output signal control the direction and the speed of two reducing motors respectively.
CNA2007100480865A 2007-11-12 2007-11-12 Intelligent mowing robot control system Pending CN101436039A (en)

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Application Number Priority Date Filing Date Title
CNA2007100480865A CN101436039A (en) 2007-11-12 2007-11-12 Intelligent mowing robot control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNA2007100480865A CN101436039A (en) 2007-11-12 2007-11-12 Intelligent mowing robot control system

Publications (1)

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CN101436039A true CN101436039A (en) 2009-05-20

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101828464A (en) * 2010-05-20 2010-09-15 浙江亚特电器有限公司 Intelligent mowing robot moving parallelly and control method for parallel movement
CN102237806A (en) * 2010-04-28 2011-11-09 鸿富锦精密工业（深圳）有限公司 Power-supply control system
CN101739030B (en) * 2009-12-18 2011-12-14 重庆大学 Spray robot control system
CN103770117A (en) * 2014-01-24 2014-05-07 成都万先自动化科技有限责任公司 Postal service robot
CN103770114A (en) * 2014-01-24 2014-05-07 成都万先自动化科技有限责任公司 Weeding service robot
CN104416568A (en) * 2013-08-20 2015-03-18 苏州宝时得电动工具有限公司 Automatic working system and control method of automatic travel device

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101739030B (en) * 2009-12-18 2011-12-14 重庆大学 Spray robot control system
CN102237806A (en) * 2010-04-28 2011-11-09 鸿富锦精密工业（深圳）有限公司 Power-supply control system
CN101828464A (en) * 2010-05-20 2010-09-15 浙江亚特电器有限公司 Intelligent mowing robot moving parallelly and control method for parallel movement
CN104416568A (en) * 2013-08-20 2015-03-18 苏州宝时得电动工具有限公司 Automatic working system and control method of automatic travel device
CN104416568B (en) * 2013-08-20 2016-06-22 苏州宝时得电动工具有限公司 The control method of automatic working system and automatic running device
CN103770117A (en) * 2014-01-24 2014-05-07 成都万先自动化科技有限责任公司 Postal service robot
CN103770114A (en) * 2014-01-24 2014-05-07 成都万先自动化科技有限责任公司 Weeding service robot

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Open date: 20090520