CN105843115A - Photovoltaic intelligent mobile platform - Google Patents
Photovoltaic intelligent mobile platform Download PDFInfo
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- CN105843115A CN105843115A CN201610164485.7A CN201610164485A CN105843115A CN 105843115 A CN105843115 A CN 105843115A CN 201610164485 A CN201610164485 A CN 201610164485A CN 105843115 A CN105843115 A CN 105843115A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25338—Microprocessor
Abstract
The invention discloses a photovoltaic intelligent mobile platform. The photovoltaic intelligent mobile platform includes three photovoltaic panels, a first photovoltaic bracket, a second photovoltaic bracket, a third photovoltaic bracket, Mecanum omnidirectional wheels, a chassis, an upper cover, an irradiation instrument stage, two self-locking motors and a microprocessor control system. According to the photovoltaic intelligent mobile platform provided by the invention, the photovoltaic panels and a photovoltaic controller can be utilized to control the charging and discharging of a lithium battery, and the unfolding and folding of the brackets can be realized through the photovoltaic brackets and the self-locking motors; upper computer software receives the data of the platform, processes the data, carries out map positioning, issues walking instructions through a walking algorithm, adjusts the operating speed and attitude of the platform, and realize point-to-point walk of the platform and remote monitoring on the platform; and the platform can find out an optimal charging site through automatically detecting power and irradiance and using a search algorithm so as to carry out intelligent charging.
Description
Technical field
The present invention relates to a kind of photovoltaic intelligent mobile platform, belong to new forms of energy field in intelligent robotics.
Background technology
Along with photovoltaic technology reaches its maturity, photovoltaic generation the most gradually steps into commercialization, popular, popular, and photovoltaic generation, in the application of frontier, will become following important research direction.Intelligent robot with solar energy as power, has environmental protection, economy, the feature such as flexible, general, has broad application prospects.The most emerging road surface robot grown up or aircraft generally need operator and manually charge for it, and this probably ineffective has serious consequences at crucial moment not in time because of charging.The fields such as outdoor intelligent robot will be applied to park navigation, road surface cleaning in addition, court cleaning.Develop such a research mobile platform for this and there is positive meaning.
Summary of the invention
In order to solve the problems referred to above, the present invention provides a kind of photovoltaic intelligent mobile platform, utilizes solar energy to provide electric energy for platform, is communicated by host computer and controls its walking, having the functions such as automatic charging, navigation, obstacle.
For achieving the above object, the present invention adopts the following technical scheme that
A kind of photovoltaic intelligent mobile platform, described platform includes three pieces of photovoltaic panel, first photovoltaic bracket, second photovoltaic bracket, 3rd photovoltaic bracket, Mecanum omni-directional wheel, chassis, upper cover, irradiation instrument platform, two self-locking motors and microprocessor control system, described three pieces of photovoltaic panel are separately mounted to the first photovoltaic bracket, on second photovoltaic bracket and the 3rd photovoltaic bracket, described second photovoltaic bracket is arranged on and covers, described first photovoltaic bracket and the 3rd photovoltaic bracket are connected to the second photovoltaic bracket both sides by self-locking motor respectively, described upper cover front end is provided with irradiation instrument platform, the lower section of described upper cover is provided with chassis, and the corner outside chassis is mounted on Mecanum omni-directional wheel by power transmission shaft, described microprocessor control system is arranged on inside chassis.
Preferably, described microprocessor control system includes lithium battery, 11.1V photovoltaic controller, motor drive module group, the unidirectional current unit that tests the speed, attitude transducer, sensor group, signal processing module, display apparatus module, ultrasonic wave module group, GPRS module, GPS module, wireless communication module, SD card memory module and microprocessor.
Preferably, described three pieces of photovoltaic panel are three 20W vehicle-mounted photovoltaic plates being connected in parallel, 11.1V photovoltaic controller is furnished with photovoltaic panel input interface, charging and discharging lithium battery interface and electricity output interface, described photovoltaic panel is connected with 11.1V photovoltaic controller 11 by photovoltaic panel input interface, and controlled, by charging and discharging lithium battery interface, lithium battery is carried out discharge and recharge by 11.1V photovoltaic controller 11, described 11.1V photovoltaic controller 11 is connected with load by electricity output interface, power to whole system, and constitute communication with microprocessor, inform its charge status and failure condition.
Preferably, motor drive module group includes that two L289N full-bridges drive module, the described unidirectional current unit that tests the speed includes four pulse speed measuring modules and the direct current generator of four band photoelectric coded disks, and described four direct current generators are separately mounted on Mecanum omni-directional wheel, described microprocessor drives described DC MOTOR CONTROL Mecanum omni-directional wheel to walk by described motor drive module group, described pulse speed measuring module is directly installed on described unidirectional current airborne measurements motor speed, and output signal to microprocessor by its reading, described microprocessor controls the rotating speed of four direct current generators by fuzzy PID algorithm.
Preferably, described sensor group includes current/voltage sensor, two PT100 temperature sensors, horizontal irradiation instrument and photographic head, described current/voltage sensor is installed on microprocessor control system plate, and be connected with photovoltaic panel and lithium battery respectively, for monitoring electricity, one in the temperature sensor of said two PT100 is pasted onto the photovoltaic panel back side, another exposes in atmosphere, it is respectively used to gather photovoltaic panel backboard temperature and ambient temperature, described horizontal irradiation instrument is arranged on the top of irradiation instrument platform, for gathering horizontal irradiance, described photographic head is arranged on the lower section of irradiation instrument platform, for gathering image information, the information that described sensor group gathers is transmitted to microprocessor by signal processing module.Host computer the most constantly transmits the current average irradiance in this region to platform, platform utilizes these information to know current electric quantity, photovoltaic panel and lithium battery state and the irradiance of place of operation, if electricity is down to a certain degree need charging, the charging place that irradiance is higher will be searched, it is achieved intelligent charge according to this area's average good fortune illumination and place of operation.
Preferably, described ultrasonic wave module group includes 4 URM37 Series Ultrasonic modules being connected on a serial bus, supports RS485 communication interface, and exchanges information by serial port communicating protocol with microprocessor.4 ultrasonic wave module measure the obstacle distance in 4 directions all around, and the OpenCV algorithm combining binocular camera realizes the range finding of platform preceding object thing, preferably ensures the intelligent obstacle of the existing platform of preceding object thing range accuracy.
Preferably, described attitude transducer includes three axis accelerometer and single axis gyroscope, it is installed on platform chassis center, movement velocity on acquisition platform current pose and all directions, described GPS module is installed on platform chassis center, for Real-time Collection current geographic position, and the information gathered is transmitted to microprocessor.
Preferably, described wireless communication module is APC220 wireless communication module, and described microprocessor is connected with host computer by wireless communication module and GPRS module respectively, it is achieved the short range debugging of platform and telecommunication.Microprocessor utilizes AT to instruct the data by position of platform information, collected and state parameter passes to long-range host computer by GPRS module, it is simple to host computer data process.
Preferably, described SD card memory module includes SD card and CH376 file management control chip, described microprocessor shows current platform current operating conditions by display apparatus module, and without under ipc monitor pattern, platform data can be stored in SD card by CH376 file management control chip by microprocessor.
Preferably, described self-locking motor is worm and gear self-locking motor, and is connected with motor drive module group, the expansion being driven module drive to realize support by L289N full-bridge is closed up, dolly can be saved and take up an area space, it is possible to utilize auto-lock function that photovoltaic panel support is deployed into certain angle, accept solar irradiation.
Platform upper computer software is utilized, according to platform feature, the monitoring software that the Visual Studio software programming platform of Microsoft writes by those skilled in the art.When platform runs, host computer per certain time receives and dispatches a secondary data, platform is by positional information, attitude information, the obstacle distance parameter obtained by ultrasonic wave module, image parameter, other sensor parameters and state parameter are transferred to host computer by GPRS module or wireless module, upper computer software comprises the map of certain little area, platform can be carried out locating and displaying, middle traffic information and walking algorithm assign direction of travel instruction to platform, realize the platform automatic walking from a place to another place, other data also can be processed by software simultaneously, display and storage
The microprocessor of this platform uses TMS320F28062 high-speed floating point type 32 bit CPU of Ti company, has more powerful signal handling capacity and motor controls function.
The present invention provides a kind of photovoltaic intelligent mobile platform, not only may utilize photovoltaic panel and photovoltaic controller controls charging and discharging lithium battery, and realized expansion and the gathering of support by photovoltaic bracket and self-locking motor.Simultaneously by upper computer software receiving platform data, and data are processed, Orientation on map, walking algorithm is utilized to assign travel commands, adjust the platform speed of service and attitude, realize the point-to-point walking of platform and remotely monitoring, and platform can seek light algorithm searching optimal charge place by automatically detecting electricity, irradiance and utilization, carries out intelligent charge.
Accompanying drawing explanation
Fig. 1 is the axle side schematic appearance of the present invention；
Fig. 2 is the front appearance schematic diagram of the present invention；
Fig. 3 is the microprocessor control system entire block diagram of the present invention；
Fig. 4 is the program flow diagram of the present invention；
In figure: photovoltaic panel 1, first photovoltaic bracket 2-1, second photovoltaic bracket 2-2, 3rd photovoltaic bracket 2-3, Mecanum wheel 3, chassis 7, upper cover 5, irradiation instrument platform 6, self-locking motor 7, irradiation instrument 8, photographic head 9, lithium battery 10, 11.1V photovoltaic controller 11, motor drive module group 12, test the speed unidirectional current unit 13, pulse speed measuring module 13-1, direct current generator 13-2, attitude transducer 14, sensor group 15, current/voltage sensor 15-1, PT100 temperature sensor 15-2, signal processing module 16, display apparatus module 17, ultrasonic wave module group 18, GPRS module 19, GPS module 20, wireless communication module 21, SD card memory module 22, microprocessor 23, host computer 24.
Detailed description of the invention
For the technical scheme making those skilled in the art be more fully understood that in the application, below in conjunction with the accompanying drawing in the embodiment of the present application, technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment is only some embodiments of the present application rather than whole embodiments.Based on the embodiment in the application, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, all should belong to the scope of the application protection.
nullAs shown in figures 1-4，1、A kind of photovoltaic intelligent mobile platform，Including three pieces of photovoltaic panel 1、First photovoltaic bracket 2-1、Second photovoltaic bracket 2-2、3rd photovoltaic bracket 2-3、Mecanum omni-directional wheel 3、Chassis 4、Upper cover 5、Irradiation instrument platform 6、Two self-locking motors 7 and microprocessor control system，Described three pieces of photovoltaic panel 1 are separately mounted to the first photovoltaic bracket 2-1、On second photovoltaic bracket 2-2 and the 3rd photovoltaic bracket 2-3，Described second photovoltaic bracket 2-2 is arranged on and covers，Described first photovoltaic bracket 2-1 and the 3rd photovoltaic bracket 2-3 is connected to the second photovoltaic bracket 2-1 both sides by self-locking motor 7 respectively，Described upper cover 5 front end is provided with irradiation instrument platform 6，The lower section of described upper cover 5 is provided with chassis 4，And the corner outside chassis 4 is mounted on Mecanum omni-directional wheel by power transmission shaft，It is internal that described microprocessor control system is arranged on chassis 4.
Preferably, described microprocessor control system includes lithium battery 10,11.1V photovoltaic controller 11, motor drive module group 12, the unidirectional current unit 13 that tests the speed, attitude transducer 14, sensor group 15, signal processing module 16, display apparatus module 17, ultrasonic wave module group 18, GPRS module 19, GPS module 20, wireless communication module 21, SD card memory module 22 and microprocessor 23.
Preferably, described three pieces of photovoltaic panel 1 are three 20W vehicle-mounted photovoltaic plates being connected in parallel, 11.1V photovoltaic controller 11 is furnished with photovoltaic panel 1 input interface, lithium battery 10 discharge and recharge interface and electricity output interface, described photovoltaic panel 1 is connected with 11.1V photovoltaic controller 11 by photovoltaic panel 1 input interface, and controlled, by lithium battery 10 discharge and recharge interface, lithium battery 10 is carried out discharge and recharge by 11.1V photovoltaic controller 11, described 11.1V photovoltaic controller (11) is connected with main control board by electricity output interface, power to whole system, photovoltaic controller carries microprocessor, can be connected with the serial line interface of microprocessor 23 by hardware serial interface, constitute communication, inform its charge status and failure condition.
Preferably, described motor drive module group 12 includes that two L289N full-bridges drive module, the described unidirectional current unit 13 that tests the speed includes the direct current generator 13-2 of four pulse speed measuring module 13-1 and four band photoelectric coded disks, and described four direct current generators are separately mounted on Mecanum omni-directional wheel 3, described microprocessor 10 drives described direct current generator 13-2 to control Mecanum omni-directional wheel 3 by described motor drive module group 12 and walks, described pulse speed measuring module 13-1 is directly installed on described direct current generator 13-2 and measures motor speed, and output signal to microprocessor 23 and allow it read, described microprocessor 23 controls the rotating speed of four direct current generator 13-2 by fuzzy PID algorithm.
Preferably, described sensor group 15 includes current/voltage sensor 15-1, two PT100 temperature sensor 15-2, horizontal irradiation instrument 8 and photographic head 9, described current/voltage sensor 15-1 is installed on microprocessor control system plate, and be connected with photovoltaic panel 1 and lithium battery 10 respectively, for monitoring electricity, in said two PT100 temperature sensor 15-2 one is pasted onto photovoltaic panel 1 back side, another exposes in atmosphere, it is respectively used to gather photovoltaic panel backboard temperature and ambient temperature, described horizontal irradiation instrument 8 is arranged on the top of irradiation instrument platform 6, for gathering horizontal irradiance, described photographic head 9 is arranged on the lower section of irradiation instrument platform 6, for gathering image information, the information that described sensor group 15 gathers is transmitted to microprocessor 23 by signal processing module 16.
Preferably, described ultrasonic wave module group 18 includes 4 URM37 Series Ultrasonic modules being connected on a serial bus, and exchanges information by serial port communicating protocol and microprocessor 23.
Preferably, described attitude transducer 14 includes three axis accelerometer and single axis gyroscope, it is installed on platform chassis center, movement velocity on acquisition platform current pose and all directions, described GPS module is installed on platform chassis center, for Real-time Collection current geographic position, and the information gathered is transmitted to microprocessor 23.
Preferably, described wireless communication module 21 is APC220 wireless communication module, described GPRS module 19 is SIM900A module, all it is arranged on platform afterbody, antenna is drawn at body exterior, and described microprocessor 23 is connected with host computer by wireless communication module 21 and GPRS module 19 respectively, it is achieved the short range of platform is debugged and telecommunication.
Preferably, described SD card memory module 22 includes SD card and CH376 file management control chip, and described microprocessor 23 shows current platform current operating conditions by display apparatus module 17, and by CH376 file management control chip, platform data is stored in SD card.
Preferably, described self-locking motor 7 is worm and gear self-locking motor, and is connected with motor drive module group 12, L289N full-bridge the expansion driving module drive to realize support is closed up.
The workflow of the present invention is as follows:
Just collect battery parameter according to sensor group after platform opening initialization and calculate electricity, if electricity more than Full Charge Capacity three/once storing data, wait that host computer assigns instruction and data, constantly detect electricity during wait and gather all kinds of parameter and store, after host computer assigns instruction, the data currently collected just are passed to host computer and according to instruction walking by platform, start obstacle pattern simultaneously, host computer utilizes point-to-point walking algorithm constantly to transmit platform direction of travel and speed, it is achieved platform route according to the rules is walked.In the process, platform also can constantly detect electricity, automatic charging pattern it is put into after electricity drops to 1/3rd of Full Charge Capacity, under this pattern, host computer collects the current average lamp in this area, these data can come from surface weather station, then platform is passed this data onto, if the irradiance that platform gathers is more than the current average lamp in this area, expansion photovoltaic panel the most out of service is charged, the most do not stop to detect irradiance and electricity to being full of, hereafter resume operation, if the irradiance that platform gathers is less than the current average lamp in this area, just perform seek optical mode and start obstacle pattern, the most constantly gather irradiance, it is charged until going to irradiation more than the place of average lamp.In seeking optical mode, utilize Mecanum wheel that platform can be made to rotate around self geometric center, front end irradiation instrument can gather the irradiance of the middle maximum that rotates a circle, then geometric center is maximum irradiance place straight line to extended line herein, and platform can be charged along the place that this route finds irradiance maximum.
Mentioned in this application and that use algorithm and each modular device belong to the routine techniques means that those of skill in the art are grasped.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.Multiple amendment to these embodiments will be apparent from for those skilled in the art, and generic principles defined herein can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and is to fit to the widest scope consistent with principles disclosed herein and features of novelty.
Claims (10)
1. a photovoltaic intelligent mobile platform, it is characterised in that: described platform includes three pieces of photovoltaic panel (1), first photovoltaic brackets
null(2-1)、Second photovoltaic bracket (2-2)、3rd photovoltaic bracket (2-3)、Mecanum omni-directional wheel (3)、Chassis (4)、Upper cover (5)、Irradiation instrument platform (6)、Two self-locking motors (7) and microprocessor control system，Described three pieces of photovoltaic panel (1) are separately mounted to the first photovoltaic bracket (2-1)、On second photovoltaic bracket (2-2) and the 3rd photovoltaic bracket (2-3)，Described second photovoltaic bracket (2-2) is arranged on and covers，Described first photovoltaic bracket (2-1) and the 3rd photovoltaic bracket (2-3) are connected to the second photovoltaic bracket (2-1) both sides by self-locking motor (7) respectively，Described upper cover (5) front end is provided with irradiation instrument platform (6)，The lower section of described upper cover (5) is provided with chassis (4)，And the corner of chassis (4) outside is mounted on Mecanum omni-directional wheel by power transmission shaft，It is internal that described microprocessor control system is arranged on chassis (4).
A kind of photovoltaic intelligent platform the most according to claim 1, it is characterised in that: described microprocessor control system includes lithium battery (10), 11.1V photovoltaic controller (11), motor drive module group (12), the unidirectional current unit (13) that tests the speed, attitude transducer (14), sensor group (15), signal processing module (16), display apparatus module (17), ultrasonic wave module group (18), GPRS module (19), GPS module (20), wireless communication module (21), SD card memory module (22) and microprocessor (23).
nullA kind of photovoltaic intelligent platform the most according to claim 2，It is characterized in that: described three pieces of photovoltaic panel (1) are three 20W vehicle-mounted photovoltaic plates being connected in parallel，11.1V photovoltaic controller (11) is furnished with photovoltaic panel (1) input interface、Lithium battery (10) discharge and recharge interface and electricity output interface，Described photovoltaic panel (1) is connected with 11.1V photovoltaic controller (11) by photovoltaic panel (1) input interface，And controlled, by lithium battery (10) discharge and recharge interface, lithium battery (10) is carried out discharge and recharge by 11.1V photovoltaic controller (11)，Described 11.1V photovoltaic controller (11) is powered to whole system by electricity output interface，Photovoltaic controller is connected by serial ports and is connected with microprocessor (23)，Constitute communication，Inform its charge status and failure condition.
nullA kind of photovoltaic intelligent platform the most according to claim 2，It is characterized in that: described motor drive module group (12) includes that two L289N full-bridges drive module，The described unidirectional current unit (13) that tests the speed includes the direct current generator (13-2) of four pulse speed measuring modules (13-1) and four band photoelectric coded disks，And described four direct current generators are separately mounted on Mecanum omni-directional wheel (3)，Described microprocessor (10) drives described direct current generator (13-2) to control Mecanum omni-directional wheel (3) by described motor drive module group (12) and walks，Described pulse speed measuring module (13-1) is directly installed on described direct current generator (13-2) and measures motor speed，And output signal to microprocessor (23) and allow it read，Described microprocessor (23) controls the rotating speed of four direct current generators (13-2) by fuzzy PID algorithm.
nullA kind of photovoltaic intelligent platform the most according to claim 2，It is characterized in that: described sensor group (15) includes current/voltage sensor (15-1)、Two PT100 temperature sensors (15-2)、Horizontal irradiation instrument (8) and photographic head (9)，Described current/voltage sensor (15-1) is installed on microprocessor control system plate，And be connected with photovoltaic panel (1) and lithium battery (10) respectively，For monitoring electricity，In said two PT100 temperature sensor (15-2) one is pasted onto photovoltaic panel (1) back side，Another exposes in atmosphere，It is respectively used to gather photovoltaic panel backboard temperature and ambient temperature，Described horizontal irradiation instrument (8) is arranged on the top of irradiation instrument platform (6)，For gathering horizontal irradiance，Described photographic head (9) is arranged on the lower section of irradiation instrument platform (6)，For gathering image information，And by image information transmission to microprocessor (23)，The information that described sensor group (15) gathers is by signal processing module (16) transmission to microprocessor (23).
A kind of photovoltaic intelligent platform the most according to claim 2, it is characterized in that: described ultrasonic wave module group (18) includes 4 URM37 Series Ultrasonic modules being connected on a serial bus, and exchanges information by serial port communicating protocol with microprocessor (23).
A kind of photovoltaic intelligent platform the most according to claim 2, it is characterized in that: described attitude transducer (14) includes three axis accelerometer and single axis gyroscope, it is installed on platform chassis center, movement velocity on acquisition platform current pose and all directions, described GPS module is installed on platform chassis center, for Real-time Collection current geographic position, and the information gathered is transmitted to microprocessor (23).
A kind of photovoltaic intelligent platform the most according to claim 2, it is characterized in that: described wireless communication module (21) is APC220 wireless communication module, described GPRS module (19) is SIM900A module, and described microprocessor (23) is connected with host computer by wireless communication module (21) and GPRS module (19) respectively, it is achieved the short range of platform is debugged and telecommunication.
A kind of photovoltaic intelligent platform the most according to claim 2, it is characterized in that: described SD card memory module (22) includes SD card and CH376 file management control chip, described microprocessor (23) shows current platform current operating conditions by display apparatus module (17), and by CH376 file management control chip, platform data is stored in SD card.
A kind of photovoltaic intelligent platform the most according to claim 4, it is characterised in that: described self-locking motor (7) is worm and gear self-locking motor, and is connected with motor drive module group (12), L289N full-bridge the expansion driving module drive to realize support is closed up.
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Application publication date: 20160810 |