CN106057056A - Teaching robot dolly based on STM32F4 microcontroller - Google Patents
Teaching robot dolly based on STM32F4 microcontroller Download PDFInfo
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- CN106057056A CN106057056A CN201610550857.XA CN201610550857A CN106057056A CN 106057056 A CN106057056 A CN 106057056A CN 201610550857 A CN201610550857 A CN 201610550857A CN 106057056 A CN106057056 A CN 106057056A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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Abstract
The invention relates to the robot teaching technology field and particularly relates to a teaching robot dolly based on an STM32F4 microcontroller. The teaching robot dolly comprises wheels, a dolly body arranged on the wheels, and a DC motor, an SG90 steering engine and a 2-degree-of-freedom manipulator arm which are arranged on the dolly body, wherein the dolly body comprises a top board and a bottom board, the top board and the bottom board respectively employ a PCB, the PCBs are provided with mounting fixing holes used for mounting the DC motor, the SG90 steering engine and the 2-degree-of-freedom manipulator arm, the bottom board PCB is provided with a QTI tracing sensor and circuit modules, and the top board PCB is provided with a supersonic sensor and circuit modules. The teaching robot dolly is advantaged in that the teaching robot dolly integrates multiple types of sensor modules, has powerful functions, is easy to expand, is not only suitable for teaching, but also is suitable for secondary development and can realize interconnection among dollies, PCB wiring design is employed, a manual wiring problem in a development process is solved, the development time is saved, and monitoring on obstacles in different orientations and different angles is realized.
Description
Technical field
The invention belongs to robot teaching's technical field, particularly relate to a kind of teaching machine based on STM32F4 microcontroller
Device people's dolly.
Background technology
Along with the development of robotics, the school offering the relevant course of robot increases, but, due to domestic development
Obtaining later, and major part is only started to school, raw practice after class is carried out, and lacks the cultivation of system；Exist in terms of robot teaching
Difficulty is goed deep into, threshold is high, and robot teaching external member on the market, low the most thousand of, expensive the most up to ten thousand, common student bears not at all
Rise, and student be interested in learn, lack again hardware platform, it is difficult to carry out.
Each state all spends mint of money buying in robot, and its shortcoming, it is obvious that teaching funds in need are the hugest, is led
Cause economic pressures increase so that some ordinary higher learning schools also cannot bear, and is generalized in the teaching of general student more difficult.
The most also there is a teaching robot of low side, but majority is all to use C51 single-chip microcomputer on car body
Mini system module is main control unit, then connects some sensor assemblies, main control unit and sensor assembly by Du Pont's line logical
Crossing and simply spell the mode beaten and be arranged on car body, this teaching dolly with low content of technology, integrated level is the highest, and cost performance is low, behaviour
Make complexity, poor expandability.
Summary of the invention
It is an object of the invention to provide that a kind of integrated level is high, price is low, cost performance is high, easily operate, multifunction, carry
Conveniently be suitable to the robot car of teaching.
For achieving the above object, the technical solution used in the present invention is: a kind of teaching machine based on STM32F4 microcontroller
Device people's dolly, including wheel, is arranged at the car body on wheel, is arranged at the direct current generator on car body, SG90 steering wheel and 2 certainly
By degree mechanical arm；Described car body includes that top board and base plate, described top board and base plate all use pcb board, described top board pcb board collection
Become to have STM32f407 microcontroller minimum system circuit, direct current motor drive circuit, flame sensor circuit, fire-extinguishing fan control
Circuit processed, QTI tracing sensor sensitivity adjusting circuit, power management and control circuit, WIFI module circuit, 2DOF machine
Tool arm control circuit, SG90 helm control circuit, direct current generator and mechanical arm operating current observation circuit, OV2640 shooting
Head module, voice playing module, PS2 handle receptor, reserved LED light and key switch；Described base plate pcb board is integrated with
QTI tracing sensor circuit, RFID radio-frequency card identification circuit, colour recognition circuit and wheel tachometer circuit；Described base plate pcb board
On be provided with QTI tracing sensor；It is provided with ultrasonic sensor on described top board pcb board.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described STM32f407 microcontroller is minimum
Circuit system includes main control chip STM32f407, clock circuit, reset circuit and procedure simulation burning interface；Described sensor
And the line between described main control chip STM32f407 all uses PCB trace to design.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described direct current motor drive circuit uses
Modified model H bridge DC motor Driver module, carries out speed and direction changing control by main control chip STM32f407 to direct current generator；Institute
Stating modified model H bridge DC motor Driver module to use at basic H-bridge circuit increase by 4 and door and 2 not gates, 4 same with door
One enables Continuity signal and connects, and utilizes a signal to control the switch of whole circuit；2 not gates utilize and provide a kind of direction defeated
Enter, it is ensured that at the homonymy only one of which triode ON of H bridge.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described flame sensor circuit uses fire
Flame sensor YS-17, is acquired locating to the digital signal that flame sensor YS-17 exports by main control chip STM32f407
Reason, or by the way of AD, the output signal of flame sensor YS-17 is carried out sampling processing；Described WIFI module circuit is adopted
By the module of built-in WIFI antenna, interacted with main control chip STM32f407 by UART serial mode, by AT instruct into
Row configuration, is used for connecting the interconnection between smart mobile phone or PC, and two WIFI module.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described fire-extinguishing fan control circuit uses
The control mode of double metal-oxide-semiconductors, it is achieved described STM32f407 microcontroller is to high-tension control；Described power management and control
Circuit uses DC-DC power source chip LM2596-5 to be used for input voltage voltage stabilizing, by linear power supply chip LDO by 5V photovoltaic conversion
It is designed with capacitor filter for 3.3V, power input portion and output part, is also devised with battery charger charging simultaneously
With the switching circuit of power supply, utilize the break-make of industry control chip controls power supply.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described QTI tracing sensor sensitivity is adjusted
Economize on electricity road uses QTI sensitivity adjusting potentiometer；Described QTI tracing sensor includes 7 road QTI tracing sensors, described 7 tunnels
The equidistant linear array of QTI tracing sensor, on described base plate pcb board, utilizes and regulates described QTI sensitivity adjusting potentiometer
Realize the function that tracks under different light intensity environment；Described ultrasonic sensor includes No. 5 ultrasonic sensors, and wherein 4 roads are ultrasonic
Wave sensor is respectively arranged at described top board pcb board four orientation all around, for the monitoring of each orientation barrier；Separately
Outer No. 1 ultrasonic sensor is arranged on described SG90 steering wheel, is used for realizing swinging avoidance.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described 2DOF mechanical arm controls electricity
Road uses PWM ripple to be controlled 2DOF mechanical arm；Described SG90 helm control circuit uses PWM ripple to SG90 steering wheel
It is controlled；Described direct current generator and mechanical arm operating current observation circuit are used for monitoring direct current generator and 2DOF machinery
Arm operating current, prevents maloperation.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described OV2640 camera module interface
It is connected with the photographic head I/O port on main control chip STM32f407, for real-time image acquisition data；Described PS2 handle receptor
Use SPI communication modes to interact with described main control chip STM32f407, utilize main control chip STM32f407 that PS2 is received
Device is encrypted.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described voice playing module uses coding
Pattern and two kinds of mode of operations of non-coding pattern, it is achieved the broadcasting of different phonetic module；Described reserved LED light and button are opened
Close for Function Extension and state instruction.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described base plate pcb board is T-shaped plate, described
Top board pcb board is fillet rectangular slab, uses double contact pin to be connected between described top board pcb board and base plate pcb board；Described PCB
It is additionally provided with several on plate and fixing hole is installed, be used for described direct current generator, SG90 steering wheel and 2DOF mechanical arm are installed；
Described direct current generator includes four twin shaft direct current generators, and wherein two twin shaft direct current generators are installed on described T-shaped plate, and two
The rotating shaft of twin shaft direct current generator is mounted on the code-disc that tests the speed, for the demarcation of wheel velocity；Other two twin shaft direct current generators peace
It is loaded on described fillet rectangular slab, and two twin shaft direct current generators are all with vibration absorber.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described wheel tachometer circuit utilizes and tests the speed
The discontinuity of groove type photoelectric switch photosensitive region is blocked by code-disc, groove type photoelectric switch output pulse signal, touches through Schmitt
Send out the device Shape correction to the pulse signal of output, be sent to main control chip STM32f407.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described QTI tracing sensor circuit includes
Multiple infrared electros, to pipe, use infrared electro to pipe array, carry out the signal of input at binaryzation through over-voltage comparator
Reason, converts analog signals into digital data transmission to main control chip STM32f407；Described RFID radio-frequency card identification circuit uses
NXP company MF RC522 chip, utilizes SPI mode mutual with main control chip STM32f407；Described colour recognition circuit uses U.S.
The color sensor chip TCS230 of TASO company of state, by the light of different colours being converted to the electrical signal of the frequency of digital quantity,
Described main control chip STM32f407 carries out colour recognition by the frequency acquisition signal of telecommunication.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, the employing four-wheel drive of described wheel, and often
The speed of wheel and the equal controllable of rotation direction, turn for realizing the differential of described robot car；Described wheel also sets
There is vibration damping fixed support, for the vibrationproof of the motor process of described car body；Described wheel includes two 65mm wheels and two
80mm wheel, described two 65mm wheels are arranged on described top board, and described two 80mm wheels are arranged on described base plate.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described top board pcb board is provided with can be certainly
By the mini fan of the USB bent, utilize the angle changing fan to realize without dead angle and put out a fire；It is also equipped with on described base plate pcb board
Speech horn；It is also equipped with battery on described top board pcb board；USB and charging/power supply interface it is provided with on described top board pcb board.
A kind of for the containing box of teaching robot's dolly based on STM32F4 microcontroller, including according to teaching machine
The casing of device people's dolly overall dimensions amount body design and case lid, be provided with multiple special interlayer in casing, is used for placing accordingly
Assembling fittings.
The invention has the beneficial effects as follows:
The most integrated multiple sensors module, feature richness, it is easy to extension, can be not only used for teaching, it is also possible to open for secondary
Send out, allow Students ' Learning apply, give full play to enthusiasm and the creativeness of student.
2. using STM32F4 series processors, not only data-handling capacity is strong, fast operation, simultaneously this single-chip microcomputer
Use ARM structural framing, beneficially student from now on deeper into study.
3. supporting increasing income learning procedure and supporting study class hour is provided.
4. integrated wireless WIFI function, it is possible to achieve the interconnection between dolly, may be used for studying the group between robot
Control, cooperation scheduling algorithm.
5. integrated design, the base plate of dolly and top board all use pcb board to design structure, pcb board are designed with unidirectional current
The installation fixing hole of the devices such as machine, steering wheel, mechanical arm, uses double contact pin to be connected between top board with base plate, each sensor with
Line between main control chip all uses PCB trace to design, and solves development process and also wants the problem of manual line, is greatly saved
Development time.
The most integrated 7 road QTI tracing sensors, solve that dolly sensitivity during tracking is the highest, the asking of poor real
Topic, is designed with QTI sensitivity adjusting potentiometer simultaneously, passes through regulator potentiometer, it is achieved dolly seeking under different light intensity environment
Mark function.
The most integrated No. 5 ultrasonic sensors, 4 tunnels are laid in four orientation, left and right before and after dolly respectively, it is achieved to difference
The monitoring of orientation barrier；No. 1 ultrasonic sensor is fixed on steering wheel, as the swing Monitoring Design of ultrasound wave, it is achieved right
The monitoring of different angles barrier.
8. be integrated with the current monitoring function of mechanical arm and direct current generator, effectively prevent mechanical arm and direct current generator because of
Hardware is damaged for maloperation causes operating current excessive.
9. wheel design has vibration damping fixed support, can effectively prevent dolly from running the big problem of process vibrations.
10. testing the speed the design of code-disc, the demarcation for wheel velocity provides a method accurately and rapidly；
11. dollies use four-wheel drive design, increase driving force, and speed and the rotation direction of the most each wheel are the most controlled,
The differential that can realize dolly is turned.
12. dollies use two 65mm wheels and the big steamboat design of two 80mm wheels, are conducive to increasing wheel
With the frictional force on ground, also play the effect of configuration dolly anterior and posterior height simultaneously.
The control of 13. direct current generators uses modified model H bridge motor drive module so that within the same time, same brachium pontis
One can only be had to drive pipe conducting, it is to avoid two sides drive the short circuit phenomenon that pipe simultaneously turns on.
14. use can free bend USB mini fan, can arbitrarily change fan angle realize going out without dead angle
Fire.
15.USB and charging/power supply interface can be used for the wire communication between dolly and PC and realize dolly fill power supply one
Bodyization designs.
16. are designed with containing box according to dolly profile, amount body, the interlayer that in containing box, each fitting designs is special, convenient
Life is easily found corresponding accessory when assembled carriage, is also convenient for carrying in teaching process simultaneously.
Accompanying drawing explanation
Fig. 1 is the top view of one embodiment of the invention；
Fig. 2 is the axonometric chart of one embodiment of the invention；
Fig. 3 is the upward view of one embodiment of the invention；
Fig. 4 is one embodiment of the invention top board pcb board structural representation；
Fig. 5 is one embodiment of the invention base plate pcb board structural representation；
Fig. 6 is the schematic diagram of one embodiment of the invention H bridge type improved electric drive circuit；
Fig. 7 is that one embodiment of the invention H bridge type improved electric drive circuit drives motor to rotate clockwise schematic diagram；
Fig. 8 is one embodiment containing box internal structure schematic diagram of invention；
Wherein, 1-top board, 2-OV2640 camera module, 3-ultrasonic sensor, 4-65mm wheel, 5-voice playing module,
6-USB and charging/power supply interface, 7-80mm wheel, 8-2 degree of freedom mechanical arm, the twin shaft direct current generator of 9-band vibration damping, 10-
Base plate, 11-switching circuit, 12-fire-extinguishing fan control circuit, 13-2 degree of freedom mechanical arm control circuit, 14-PS2 handle connect
Receipts device, 15-direct current generator crystal drive circuit, 16-clock circuit, 17-procedure simulation burning interface, 18-key switch, 19-reserve LED
Display lamp, 20-WIFI module circuit, 21-SG90 helm control circuit, 22-QTI tracing sensor circuit, 23-RFID penetrate
Frequently card identification circuit, 24-colour recognition circuit, 25-wheel tachometer circuit, 26-are double without the twin shaft direct current generator of vibration damping, 27-
Socket pin, 28-containing box, 29-reset circuit, 30-QTI tracing sensor sensitivity adjusting circuit, 31-flame sensor electricity
Road.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiments of the present invention are described in detail.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, the embodiment of the present invention provides a kind of religion based on STM32F4 microcontroller
Learn robot car, including wheel, be arranged at the car body on wheel, be arranged at the direct current generator on car body, SG90 steering wheel
With 2DOF mechanical arm；Described car body includes that top board and base plate, described top board and base plate all use pcb board, described top board
Pcb board is integrated with STM32f407 microcontroller minimum system circuit, direct current motor drive circuit, flame sensor circuit, fire extinguishing
Fan control circuitry, QTI tracing sensor sensitivity adjusting circuit, power management and control circuit, WIFI module circuit, 2 from
By degree mechanical arm control circuit, SG90 helm control circuit, direct current generator and mechanical arm operating current observation circuit,
OV2640 camera module, voice playing module, PS2 handle receptor, reserved LED light and key switch；Described base plate
Pcb board is integrated with QTI tracing sensor circuit, RFID radio-frequency card identification circuit, colour recognition circuit and wheel tachometer circuit；Institute
State and on base plate pcb board, be provided with QTI tracing sensor；It is provided with ultrasonic sensor on described top board pcb board.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described STM32f407 microcontroller is minimum
Circuit system includes main control chip STM32f407, clock circuit, reset circuit and procedure simulation burning interface；Described sensor
And the line between described main control chip STM32f407 all uses PCB trace to design.Described direct current motor drive circuit uses and changes
Enter type H bridge DC motor Driver module, by main control chip STM32f407, direct current generator is carried out speed and direction changing control.Described
Modified model H bridge DC motor Driver module uses increases by 4 and door and 2 not gates in basic H-bridge circuit, and 4 same with door
Individual enable Continuity signal connects, and utilizes a signal to control the switch of whole circuit；2 not gates utilize and provide a kind of direction defeated
Enter, it is ensured that at the homonymy only one of which triode ON of H bridge.Described flame sensor circuit uses flame sensor YS-17, logical
Cross main control chip STM32f407 to be acquired the digital signal that flame sensor YS-17 exports processing, or by the side of AD
Formula carries out sampling processing to the output signal of flame sensor YS-17.Described fire-extinguishing fan control circuit uses the control of double metal-oxide-semiconductor
Mode processed, it is achieved described STM32f407 microcontroller is to high-tension control.Described QTI tracing sensor sensitivity adjusting electricity
Road uses QTI sensitivity adjusting potentiometer.Described QTI tracing sensor includes that 7 road QTI tracing sensors, described 7 road QTI are sought
The equidistant linear array of mark sensor, on described base plate pcb board, utilizes and regulates the realization of described QTI sensitivity adjusting potentiometer not
With the function that tracks under light intensity environment.Described power management and control circuit use DC-DC power source chip LM2596-5 for defeated
Entering voltage voltage stabilizing, be 3.3V by linear power supply chip LDO by 5V photovoltaic conversion, power input portion and output part are all provided with meter
There is capacitor filter, be also devised with battery charger charging and the switching circuit of power supply simultaneously, utilize industry control chip controls electricity
The break-make in source.Described WIFI module circuit uses the module of built-in WIFI antenna, by UART serial mode and main control chip
STM32f407 interacts, and is configured by AT instruction, is used for connecting smart mobile phone or PC, and two WIFI module it
Between interconnection.Described 2DOF mechanical arm control circuit uses PWM ripple to be controlled 2DOF mechanical arm.Described
SG90 helm control circuit uses PWM ripple to be controlled SG90 steering wheel.Described direct current generator and mechanical arm operating current prison
Slowdown monitoring circuit is used for monitoring direct current generator and 2DOF mechanical arm operating current, prevents maloperation.Described OV2640 images head mould
Block interface is connected with the photographic head I/O port on main control chip STM32f407, for real-time image acquisition data.Described speech play
Module uses coding mode and two kinds of mode of operations of non-coding pattern, it is achieved the broadcasting of different phonetic module.Described PS2 handle connects
Receiving device uses SPI communication modes to interact with described main control chip STM32f407, utilizes main control chip STM32f407 to PS2
Receptor is encrypted.Described reserved LED light and key switch are for Function Extension and state instruction.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described base plate pcb board is T-shaped plate, described
Top board pcb board is fillet rectangular slab, uses double contact pin to be connected between described top board pcb board and base plate pcb board；Described PCB
It is additionally provided with several on plate and fixing hole is installed, be used for described direct current generator, SG90 steering wheel and 2DOF mechanical arm are installed.
Described direct current generator includes four twin shaft direct current generators, and wherein two twin shaft direct current generators are installed on described T-shaped plate, and two
The rotating shaft of twin shaft direct current generator is mounted on the code-disc that tests the speed, for the demarcation of wheel velocity；Other two twin shaft direct current generators peace
It is loaded on described fillet rectangular slab, and two twin shaft direct current generators are all with vibration absorber.Described wheel tachometer circuit utilizes
The discontinuity of groove type photoelectric switch photosensitive region is blocked by the code-disc that tests the speed, groove type photoelectric switch output pulse signal, passes through
The Schmitt trigger Shape correction to the pulse signal of output, is sent to main control chip STM32f407.
In above-mentioned teaching robot's dolly based on STM32F4 microcontroller, described QTI tracing sensor circuit includes
Multiple infrared electros, to pipe, use infrared electro to pipe array, carry out the signal of input at binaryzation through over-voltage comparator
Reason, converts analog signals into digital data transmission to main control chip STM32f407.Described RFID radio-frequency card identification circuit uses
NXP company MF RC522 chip, utilizes SPI mode mutual with main control chip STM32f407.Described colour recognition circuit uses U.S.
The color sensor chip TCS230 of TASO company of state, by the light of different colours being converted to the electrical signal of the frequency of digital quantity,
Described main control chip STM32f407 carries out colour recognition by the frequency acquisition signal of telecommunication.Described ultrasonic sensor includes 5 tunnels
Ultrasonic sensor, wherein No. 4 ultrasonic sensors are respectively arranged at described top board pcb board four orientation all around, use
Monitoring in each orientation barrier；Other No. 1 ultrasonic sensor is arranged on described SG90 steering wheel, is used for realizing swing and keeps away
Barrier.Described wheel uses four-wheel drive, and the speed of every wheel and the equal controllable of rotation direction, is used for realizing described robot
The differential of dolly is turned；Described wheel is additionally provided with vibration damping fixed support, for the vibrationproof of the motor process of described car body.Described car
Wheel includes that two 65mm wheels and two 80mm wheels, described two 65mm wheels are arranged on described top board, described two
80mm wheel is arranged on described base plate.Be provided with on described top board pcb board can the mini fan of USB of free bend, utilization changes
The angle becoming fan realizes putting out a fire without dead angle；It is also equipped with speech horn on described base plate pcb board；On described top board pcb board also
Battery is installed.USB and charging/power supply interface it is provided with on described top board pcb board.
Also provide for simultaneously a kind of for the containing box of teaching robot's dolly based on STM32F4 microcontroller, such as Fig. 8
Shown in, including the casing designed according to teaching robot's dolly overall dimensions amount body and case lid, it is provided with multiple special in casing
Interlayer, is used for placing corresponding assembling fittings.
In present pre-ferred embodiments, as shown in Figure 4, Figure 5, a kind of robot based on STM32F4 microcontroller is little
Car, is fillet rectangular slab pcb board and car body that base plate is T-shaped plate pcb board including top board, top board pcb board is integrated with
STM32f407 microcontroller minimum system circuit, direct current generator crystal drive circuit, flame sensor circuit, fire-extinguishing fan control circuit,
QTI tracing sensor sensitivity adjusting circuit, power management and control circuit, WIFI module circuit, 2DOF mechanical arm control
Circuit processed, SG90 helm control circuit, direct current generator and mechanical arm operating current observation circuit, OV2640 camera module,
Voice playing module, PS2 handle receptor, reserved LED light and key switch, USB and charging/power supply interface；Base plate PCB
QTI tracing sensor circuit, RFID radio-frequency card identification circuit, colour recognition circuit, wheel tachometer circuit it is integrated with on plate.
STM32f407 microcontroller minimum system main circuit main control chip to be included STM32f407, clock circuit, reset
Circuit, procedure simulation burning interface.
PS2 handle receptor is actively connected with PS2 handle, it may appear that wrong situation about connecting, if i.e. there being multiple stage dolly to exist
Together, it may appear that the PS2 handle of a dolly is connected to the PS2 handle receptor of another dolly, thus controls dolly.In order to
Solve this problem, use the mode that operator password is set for PS2 handle on software, after i.e. handle is connected to receptor, also need
After password authentification to be passed through, dolly could be controlled.
The current monitoring circuit of mechanical arm and direct current generator monitors the operating current of mechanical arm and direct current generator, can
With time reality monitoring current change, effectively prevent mechanical arm and direct current generator from damaging because maloperation causes operating current excessive
Bad hardware.
QTI tracing sensor circuit include multiple infrared electro to pipe, use infrared electro to pipe array, through voltage ratio
Relatively device carries out binary conversion treatment to the signal of input, thus converts analog signals into digital data transmission to main control chip
STM32f407, is designed with QTI sensitivity adjusting potentiometer simultaneously, passes through regulator potentiometer, it is achieved dolly is at different light intensity environment
Under the function that tracks.
RFID radio-frequency card identification circuit uses NXP company MF RC522 chip, and this chip has been completely integrated
All types of passive contactless communication modes and agreement under 13.56MHz, by SPI mode and main control chip STM32f407
Alternately.
Colour recognition circuit uses the color sensor chip TCS230 that TAOS company of the U.S. produces, and this chip is that one can
The light of different colours, to the transducer of frequency, can be converted to the electrical signal of the frequency of digital quantity, main control chip by programming colourama
STM32f407 is by gathering the frequency of output signal, it is possible to identify different colors.
Wheel tachometer circuit is to be blocked the discontinuity of groove type photoelectric switch photosensitive region by the code-disc that tests the speed, photoswitch
Meeting output pulse signal, then carries out Shape correction by Schmitt trigger to the pulse signal of output, finally proceeds to main
Control chip STM32f407.
The identification of flame optical band is exported by flame sensor YS-17 and simulates letter accordingly by flame sensor circuit entirely
Number, by voltage comparator by analog signal digital, it is sent to main control chip STM32f407 and is acquired, or directly lead to
The mode crossing AD carries out sampling processing to the output signal of flame sensor.
Fire-extinguishing fan control circuit is the control mode using double metal-oxide-semiconductor, it is achieved STM32f407 microcontroller is to high voltage
Control.
Power management and control circuit carry out voltage stabilizing by DC-DC power source chip LM2596-5 to input voltage, the most again
Being 3.3V by linear power supply chip LDO by 5V photovoltaic conversion, power input portion and output part are designed with electric capacity filter
Wave circuit, is also configured with the switching circuit that the present embodiment is charged and directly powers the present embodiment by battery charger simultaneously,
Relatively module and the unit of power consumption is designed with power control circuit, can be controlled the break-make of its power supply by industry control chip,
The consumption of unnecessary electric energy can be reduced.
WIFI module circuit uses the module being built-in with WIFI antenna, by UART serial mode and main control chip
STM32f407 interacts, this WIFI module by AT instruction configure, can directly with smart mobile phone or PC be connected,
Interconnection can also be realized between two WIFI module simultaneously.
2DOF mechanical arm control circuit realizes the control to 2DOF mechanical arm by PWM ripple.
SG90 helm control circuit realizes the control to SG90 steering wheel by PWM ripple, ultrasonic equipped with one on SG90 steering wheel
Wave sensor, such that it is able to realize the swing avoidance of ultrasonic wave module.
OV2640 camera module interface I/O port special with the pickup camera on main control chip STM32f407 is connected, it is achieved right
The Real-time Collection of view data.
Voice playing module has two kinds of mode of operations, coding mode and non-coding pattern, under non-coding pattern, master control core
Sheet can control voice module and play 9 first voices, and under coding mode, main control chip can control voice module and play 31 first languages
Sound.
Reserved LED light and key switch are mainly used for Function Extension and state instruction.
Direct current generator crystal drive circuit uses improved special H bridge DC motor Driver module, by main control chip STM32f407
The acceleration and deceleration of direct current generator and forward and reverse control can be realized.When driving motor, it is ensured that on H bridge, the audion of two homonymies will not
Simultaneously turn on extremely important.As shown in Figure 6, if audion Q1 and Q2 simultaneously turns on, then electric current will be from positive pole through two
Individual audion is returned directly to negative pole.Now, circuit there is no in addition to audion other any load, the therefore electric current on circuit
It is possible to reach maximum (this electric current is only limited by power source performance), even burn out audion.For these reasons, drive actual
Galvanic electricity road generally use hardware circuit control the switch of audion easily.Improvement circuit in view of this consideration, substantially
H-bridge circuit on the basis of add 4 with door and 2 not gates.4 enable Continuity signals same with door connect, and so, use
This signal just can control the switch of whole circuit.And 2 not gates are by providing a kind of direction to input, it is ensured that Ren Heshi
Wait the homonymy all only one of which triode ON at H bridge, as shown in Figure 7.
As it is shown in figure 5, base plate pcb board is T-shaped plate, this plate is provided with two twin shaft direct current generators without vibration damping, with
Time direct current generator rotating shaft on the code-disc that tests the speed can be installed；It is also equipped with the wheel of two 80mm.As shown in Figure 4, top board pcb board
For fillet rectangular slab, this plate is provided with two twin shaft direct current generators of vibration damping；It is also equipped with the wheel of two 65mm.Top
USB and charging/power supply interface it is additionally provided with on plate pcb board.
USB and charging/power supply interface be for the wire communication between dolly and PC and realize dolly fill power supply one
Change design；
Two 65mm wheels and two 80mm wheels use big steamboat design, are conducive to increasing rubbing of wheel and ground
Wiping power, also plays the effect of configuration dolly anterior and posterior height simultaneously.
Use double contact pin to be connected between top board pcb board with base plate pcb board, speech horn is installed between top board and base plate
And supplying cell.
The quantity of QTI tracing sensor is 7 tunnels, becomes equidistant linear array on base plate pcb board.
Dolly uses four-wheel drive design, increases driving force, and speed and the rotation direction of the most each wheel are the most controlled,
The differential that can realize dolly is turned.
As shown in Figure 8, the car body of robot car and fitting designs thereof have supporting containing box to receive, and containing box was both
The dolly assembled can be received, it is also possible to the dolly prepared is unkitted in storage, the interlayer that in containing box, each fitting designs is special, side
Just student is easily found corresponding accessory when assembled carriage, is also convenient for carrying in teaching process simultaneously.
The present embodiment is a kind of high based on STM32F4 microcontroller teaching robot's dolly integrated level, and cost performance is high, and function is rich
Rich, it is easy to autgmentability.Robot teaching can be widely used in, facilitate student's operation demonstration；Can be used for each laboratory is made
For the platform of algorithm research, such as the team control of robot, cooperation etc., it is worthy to be popularized.
It should be appreciated that the part that this specification does not elaborates belongs to prior art.
Although describing the detailed description of the invention of the present invention above in association with accompanying drawing, but those of ordinary skill in the art should
Understanding, these are merely illustrative of, and these embodiments can be made various deformation or amendment, former without departing from the present invention
Reason and essence.The scope of the present invention is only limited by the claims that follow.
Claims (15)
1. teaching robot's dolly based on STM32F4 microcontroller, including wheel, is arranged at the car body on wheel,
It is arranged at the direct current generator on car body, SG90 steering wheel and 2DOF mechanical arm；It is characterized in that: described car body includes top
Plate and base plate, described top board and base plate all use pcb board, described top board pcb board to be integrated with STM32f407 microcontroller minimum system
System circuit, direct current motor drive circuit, flame sensor circuit, fire-extinguishing fan control circuit, QTI tracing sensor sensitivity are adjusted
Economize on electricity road, power management and control circuit, WIFI module circuit, 2DOF mechanical arm control circuit, SG90 servos control electricity
Road, direct current generator and mechanical arm operating current observation circuit, OV2640 camera module, voice playing module, PS2 handle connect
Receive device, reserved LED light and key switch；Described base plate pcb board is integrated with QTI tracing sensor circuit, RFID radio-frequency card
Identification circuit, colour recognition circuit and wheel tachometer circuit；It is provided with QTI tracing sensor on described base plate pcb board；Described top
It is provided with ultrasonic sensor on plate pcb board.
Teaching robot's dolly based on STM32F4 microcontroller the most according to claim 1, it is characterised in that: described
STM32f407 microcontroller minimum system circuit includes that main control chip STM32f407, clock circuit, reset circuit and program are imitative
True burning interface；Line between described sensor and described main control chip STM32f407 all uses PCB trace to design.
Teaching robot's dolly based on STM32F4 microcontroller the most according to claim 2, it is characterised in that: described
Direct current motor drive circuit uses modified model H bridge DC motor Driver module, by main control chip STM32f407 to direct current generator
Carry out speed and direction changing control；Described modified model H bridge DC motor Driver module uses increases by 4 and door in basic H-bridge circuit
With 2 not gates, 4 enable Continuity signals same with door connect, and utilize a signal to control the switch of whole circuit；2 non-
Door utilizes provides the input of a kind of direction, it is ensured that at the homonymy only one of which triode ON of H bridge.
Teaching robot's dolly based on STM32F4 microcontroller the most according to claim 2, it is characterised in that: described
Flame sensor circuit uses flame sensor YS-17, is exported flame sensor YS-17 by main control chip STM32f407
Digital signal be acquired processing, or by the way of AD, the output signal of flame sensor YS-17 is carried out at sampling
Reason；Described WIFI module circuit uses the module of built-in WIFI antenna, by UART serial mode and main control chip STM32f407
Interact, configured by AT instruction, be used for connecting the interconnection between smart mobile phone or PC, and two WIFI module.
Teaching robot's dolly based on STM32F4 microcontroller the most according to claim 1, it is characterised in that: described
Fire-extinguishing fan control circuit uses the control mode of double metal-oxide-semiconductor, it is achieved described STM32f407 microcontroller is to high-tension control
System；Described power management and control circuit use DC-DC power source chip LM2596-5 to be used for input voltage voltage stabilizing, by linear electricity
5V photovoltaic conversion is 3.3V by source chip LDO, and power input portion and output part are designed with capacitor filter, also simultaneously
It is designed with battery charger charging and the switching circuit of power supply, utilizes the break-make of industry control chip controls power supply.
Teaching robot's dolly based on STM32F4 microcontroller the most according to claim 1, it is characterised in that: described
QTI tracing sensor sensitivity adjusting circuit uses QTI sensitivity adjusting potentiometer；Described QTI tracing sensor includes 7 tunnels
QTI tracing sensor, the described 7 road equidistant linear array of QTI tracing sensor, on described base plate pcb board, utilize regulation institute
State QTI sensitivity adjusting potentiometer and realize the function that tracks under different light intensity environment；Described ultrasonic sensor includes that 5 roads are ultrasonic
Wave sensor, wherein No. 4 ultrasonic sensors are respectively arranged at described top board pcb board four orientation all around, for each
The monitoring of individual orientation barrier；Other No. 1 ultrasonic sensor is arranged on described SG90 steering wheel, is used for realizing swinging avoidance.
Teaching robot's dolly based on STM32F4 microcontroller the most according to claim 1, it is characterised in that: described 2
Degree of freedom mechanical arm control circuit uses PWM ripple to be controlled 2DOF mechanical arm；Described SG90 helm control circuit
Use PWM ripple that SG90 steering wheel is controlled；Described direct current generator and mechanical arm operating current observation circuit are used for monitoring directly
Stream motor and 2DOF mechanical arm operating current, prevent maloperation.
Teaching robot's dolly based on STM32F4 microcontroller the most according to claim 2, it is characterised in that: described
OV2640 camera module interface is connected with the photographic head I/O port on main control chip STM32f407, for real-time image acquisition number
According to；Described PS2 handle receptor uses SPI communication modes to interact with described main control chip STM32f407, utilizes master control core
PS2 receptor is encrypted by sheet STM32f407.
Teaching robot's dolly based on STM32F4 microcontroller the most according to claim 1, it is characterised in that: described
Voice playing module uses coding mode and two kinds of mode of operations of non-coding pattern, it is achieved the broadcasting of different phonetic module；Described
Reserved LED light and key switch are for Function Extension and state instruction.
Teaching robot's dolly based on STM32F4 microcontroller the most according to claim 1, it is characterised in that: described
Base plate pcb board is T-shaped plate, and described top board pcb board is fillet rectangular slab, uses between described top board pcb board and base plate pcb board
Double contact pin connects；It is additionally provided with several on described pcb board and fixing hole is installed, be used for described direct current generator, SG90 rudder are installed
Machine and 2DOF mechanical arm；Described direct current generator includes four twin shaft direct current generators, and wherein two twin shaft direct current generators are installed
On described T-shaped plate, and the rotating shaft of two twin shaft direct current generators is mounted on the code-disc that tests the speed, for the demarcation of wheel velocity；Separately
Outer two twin shaft direct current generators are installed on described fillet rectangular slab, and two twin shaft direct current generators are all with vibration absorber.
11. according to the teaching robot's dolly based on STM32F4 microcontroller described in claim 2 or 10, it is characterised in that:
Described wheel tachometer circuit utilizes the code-disc that tests the speed to block the discontinuity of groove type photoelectric switch photosensitive region, and groove type photoelectric switch is defeated
Go out pulse signal, through the Schmitt trigger Shape correction to the pulse signal of output, be sent to main control chip
STM32f407。
12. teaching robot's dollies based on STM32F4 microcontroller according to claim 2, it is characterised in that: described
QTI tracing sensor circuit include multiple infrared electro to pipe, use infrared electro to pipe array, through over-voltage comparator to defeated
The signal entered carries out binary conversion treatment, converts analog signals into digital data transmission to main control chip STM32f407；Described
RFID radio-frequency card identification circuit uses NXP company MF RC522 chip, utilizes SPI mode mutual with main control chip STM32f407；
Described colour recognition circuit uses the color sensor chip TCS230 of TASO company of the U.S., by being changed by the light of different colours
For the electrical signal of the frequency of digital quantity, described main control chip STM32f407 carries out colour recognition by the frequency acquisition signal of telecommunication.
13. teaching robot's dollies based on STM32F4 microcontroller according to claim 1, it is characterised in that: described
Wheel uses four-wheel drive, and the speed of every wheel and the equal controllable of rotation direction, for realizing described robot car
Differential is turned；Described wheel is additionally provided with vibration damping fixed support, for the vibrationproof of the motor process of described car body；Described wheel includes
Two 65mm wheels and two 80mm wheels, described two 65mm wheels are arranged on described top board, described two 80mm wheels
It is arranged on described base plate.
14. teaching robot's dollies based on STM32F4 microcontroller according to claim 1, it is characterised in that: described
Be provided with on top board pcb board can the mini fan of USB of free bend, utilize the angle changing fan to realize without dead angle fire extinguishing；Institute
State and be also equipped with speech horn on base plate pcb board；It is also equipped with battery on described top board pcb board；Arrange on described top board pcb board
There are USB and charging/power supply interface.
15. 1 kinds for the teaching robot based on STM32F4 microcontroller described in claim 1-14 any claim
The containing box of dolly, it is characterised in that: include the casing according to the design of described teaching robot's dolly overall dimensions amount body and case
Lid, is provided with multiple special interlayer, is used for placing corresponding assembling fittings in described casing.
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| CN106409125A (en) * | 2016-12-20 | 2017-02-15 | 中国电子科技集团公司第二十研究所 | Shock absorption type modular AGV platform used for teaching and research and easy to produce and assemble |
| CN106950971A (en) * | 2017-05-10 | 2017-07-14 | 成都优威骐翼教育科技有限公司 | The robot bottom sensor system of time-sharing multiplex |
| CN107085431A (en) * | 2017-05-26 | 2017-08-22 | 华南理工大学 | A kind of line walking module and its control method applied to automatic running on transmisson line dolly |
| CN107472399A (en) * | 2017-08-03 | 2017-12-15 | 宁波工程学院 | A kind of transportation robot dolly and its control method |
| CN107748564A (en) * | 2017-11-23 | 2018-03-02 | 苏州迪芬德物联网科技有限公司 | A kind of Intelligent tracking trolley |
| CN108039081A (en) * | 2017-12-22 | 2018-05-15 | 四川文理学院 | Robot teaching's assessment method and device |
| CN108132671A (en) * | 2018-02-09 | 2018-06-08 | 兰州工业学院 | SCM Based intelligent voice control avoidance trolley and control method |
| CN108242192A (en) * | 2018-01-30 | 2018-07-03 | 上海乐田教育科技有限公司 | A kind of main control module for teaching programming plate |
| CN108564843A (en) * | 2018-01-30 | 2018-09-21 | 上海乐田教育科技有限公司 | A kind of trolley main control module for teaching programming plate |
| CN109283863A (en) * | 2017-07-19 | 2019-01-29 | 蒋运超 | A kind of study programming robot vehicle |
| CN109545064A (en) * | 2018-10-15 | 2019-03-29 | 内蒙古工业大学 | A kind of robot project formula embedded teaching platform |
| CN110525583A (en) * | 2019-08-23 | 2019-12-03 | 江苏科技大学 | A kind of multi-functional hull maintenance cart |
| CN111354243A (en) * | 2020-03-30 | 2020-06-30 | 重庆润颐科技有限公司 | Desktop level programming intelligent trolley and control method thereof |
| CN111580470A (en) * | 2020-04-30 | 2020-08-25 | 苏州欧立通自动化科技有限公司 | STM32F 4-based multifunctional motion control method |
| CN113467290A (en) * | 2021-06-10 | 2021-10-01 | 江苏信息职业技术学院 | STM 32-based ultrasonic ranging teaching trolley control system |
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| CN106409125A (en) * | 2016-12-20 | 2017-02-15 | 中国电子科技集团公司第二十研究所 | Shock absorption type modular AGV platform used for teaching and research and easy to produce and assemble |
| CN106950971A (en) * | 2017-05-10 | 2017-07-14 | 成都优威骐翼教育科技有限公司 | The robot bottom sensor system of time-sharing multiplex |
| CN107085431A (en) * | 2017-05-26 | 2017-08-22 | 华南理工大学 | A kind of line walking module and its control method applied to automatic running on transmisson line dolly |
| CN109283863A (en) * | 2017-07-19 | 2019-01-29 | 蒋运超 | A kind of study programming robot vehicle |
| CN107472399A (en) * | 2017-08-03 | 2017-12-15 | 宁波工程学院 | A kind of transportation robot dolly and its control method |
| CN107748564A (en) * | 2017-11-23 | 2018-03-02 | 苏州迪芬德物联网科技有限公司 | A kind of Intelligent tracking trolley |
| CN108039081A (en) * | 2017-12-22 | 2018-05-15 | 四川文理学院 | Robot teaching's assessment method and device |
| CN108242192A (en) * | 2018-01-30 | 2018-07-03 | 上海乐田教育科技有限公司 | A kind of main control module for teaching programming plate |
| CN108564843A (en) * | 2018-01-30 | 2018-09-21 | 上海乐田教育科技有限公司 | A kind of trolley main control module for teaching programming plate |
| CN108132671A (en) * | 2018-02-09 | 2018-06-08 | 兰州工业学院 | SCM Based intelligent voice control avoidance trolley and control method |
| CN109545064A (en) * | 2018-10-15 | 2019-03-29 | 内蒙古工业大学 | A kind of robot project formula embedded teaching platform |
| CN110525583A (en) * | 2019-08-23 | 2019-12-03 | 江苏科技大学 | A kind of multi-functional hull maintenance cart |
| CN111354243A (en) * | 2020-03-30 | 2020-06-30 | 重庆润颐科技有限公司 | Desktop level programming intelligent trolley and control method thereof |
| CN111580470A (en) * | 2020-04-30 | 2020-08-25 | 苏州欧立通自动化科技有限公司 | STM32F 4-based multifunctional motion control method |
| CN113467290A (en) * | 2021-06-10 | 2021-10-01 | 江苏信息职业技术学院 | STM 32-based ultrasonic ranging teaching trolley control system |
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Application publication date: 20161026 |