CN106227222A - A kind of obstacle removing robot - Google Patents
A kind of obstacle removing robot Download PDFInfo
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- CN106227222A CN106227222A CN201610861086.6A CN201610861086A CN106227222A CN 106227222 A CN106227222 A CN 106227222A CN 201610861086 A CN201610861086 A CN 201610861086A CN 106227222 A CN106227222 A CN 106227222A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
Abstract
The invention provides a kind of obstacle removing robot, this robot is with STM32F103VET6 as control core, it is aided with TB6612FNG motor drive module and achieves the intelligence traveling of device, by wireless radio-frequency remote handle teleoperator, the stroke of operation robot or route of removing obstacles.Robot, with encoder apparatus, forms closed loop control with motor-drive circuit, can effectively control the driving of robot.Robot self, with sound and light alarm module, can trigger sound and light alarm when a failure occurs.Additionally, centralized optimization of the present invention bulk supply circuit, for the purpose of booster tension stability, the need for electricity that combines each operational module devises mu balanced circuit, thus ensure that the stability that robot runs.Software section uses C language programming, and hardware designs and software design combine, it is possible to achieve Remote, from dynamic(al) correction, automatically the function such as remove obstacles.Whole system design is dexterous, algorithm is reasonable, precise control, it is possible to well realize the function that intelligence is removed obstacles.
Description
Technical field
The present invention relates to robotics, further to control and the power supply of robot, be specifically related to a kind of clear
Barrier robot.
Background technology
Robot (Robot) is the installations automatically performing work.It both can accept mankind commander, can run again
The program of layout in advance, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as, produce the work of industry, building industry, or danger.From the 60 to 70's of last century, machine
The research of device people begins to receive publicity, recently as developing rapidly of radio communication and artificial intelligence, robot field's
Correlational study also achieves significant progress, and especially those can work, to artificial intelligence's level requirement relatively in hazardous environment
Low industrial special robot, has been obtained for being widely applied at present.
Obstacle removing robot is a kind of automatic intelligent equipment for removing obstacles thing, can be by receiving in hazardous environment
Remote control commands completes mobile, action of detecting and remove obstacles.Although execution action is relatively easy, but can relate in actual applications
And control accuracy, capacity of resisting disturbance, the monitoring alarm of equipment running status, the many factors such as electric power system efficiency, because of
This precise control to be obtained, run efficient obstacle removing robot, it is necessary to pay attention in the design phase.Especially in the confession of robot
Electricity system aspects, owing to the power consumption of its entirety is not unalterable at run duration, the electric current of unit interval internal consumption is sometimes
Big the least, the output of battery is certain, so electric current is big when, the output voltage of battery can reduce, can go out
Some fluctuations of item, some will be affected for the circuit that power reguirements is higher, thus have impact on robot overall operation stream
Smooth property.Although can be improved to a certain extent by mu balanced circuit, however, it should be clear that due to different robots
Having different architectural features, electricity consumption modular circuit features different in system is different, and therefore the design of electric power system should be tied
The concrete condition closing each module is carried out, and the obstacle removing robot of prior art still haves much room for improvement at above-mentioned aspect.
Summary of the invention
It is contemplated that for the technological deficiency of prior art, it is provided that a kind of obstacle removing robot, to solve prior art
Obstacle removing robot electric power system is easily caused voltage instability and then affects the computational problem of robot operation stability.
Another that the invention solves the problems that technical problem is that the obstacle removing robot precise control of prior art is relatively low.
The obstacle removing robot that further technical problem is that prior art that the invention solves the problems that cannot implementing monitoring plant running
State.
The another obstacle removing robot automatic obstacle-avoiding in running that technical problem is that prior art that the invention solves the problems that
Ability is the best.
For realizing above technical purpose, the present invention by the following technical solutions:
A kind of obstacle removing robot, including power supply, single chip control module, sound and light alarm module, voltage detection module, infrared
Detection module, wireless communication module, motor drive module, LM2596 chip, 78L05 voltage stabilizing chip, LM1117-3.3 voltage stabilizing core
Sheet, wherein said power supply is 24V lithium battery, and the outfan of described power supply is connected with the input wire of LM2596 chip,
The outfan of LM2596 chip by two line conductors respectively with the input of 78L05 voltage stabilizing chip, motor drive module circuit
Input connects, the outfan of 78L05 voltage stabilizing chip by six line conductors respectively with the input of LM1117-3.3 voltage stabilizing chip,
The input of single chip control module circuit, the input of sound and light alarm modular circuit, the input of voltage detection module circuit,
The input of infrared detection modular circuit, the input of motor drive module circuit connect, LM1117-3.3 voltage stabilizing chip defeated
Go out end to be connected with the input wire of wireless communication module；Sound and light alarm module, voltage detection module, infrared detection module, nothing
Line communication module, motor drive module communicate to connect with single chip control module respectively.
As preferably, described single chip control module is STM32 series monolithic based on ARM7 kernel.
As preferably, described single chip control module be model be the single-chip microcomputer of STM32F103VET6.
As preferably, described sound and light alarm module includes a buzzer, a LED, an audion, the first current limliting
Resistance, the second current-limiting resistance.
As preferably, described audion is PNP type.
As preferably, the colelctor electrode of described audion is connected with the wire of output terminal of 78L05 voltage stabilizing chip, the base of audion
Pole is connected with single chip control module circuit lead, be in series with the first current-limiting resistance on this wire, and the emitter stage of audion passes through
One line conductor is led via LED ground connection, another road described by another line conductor via buzzer ground connection, the emitter stage of audion
The second current-limiting resistance also it is in series with on line.
As preferably, described infrared detection module includes controller and photoswitch, described controller and photoswitch it
Between connected by holding wire, described holding wire is in series with diode.
As preferably, the conducting direction of described diode is to photoswitch by controller.
As preferably, described voltage detection module is first cell output voltage to be converted into 2.5 to the detection of supply voltage
～the voltage analog signal of 3.6V, then be input to the a/d converter realization of single-chip microcomputer.
As preferably, described wireless communication module be model be the Monolithic RF transceiver part of nRF24L01.
In above technical scheme, described motor drive module circuit refers to the in-line power circuit of motor drive module；
Sound and light alarm modular circuit refers to the in-line power circuit of sound and light alarm module；Voltage detection module circuit refers to voltage detecting mould
The in-line power circuit of block；Infrared detection modular circuit refers to the in-line power circuit of infrared detection module；Single-chip Controlling mould
Block circuit refers to the in-line power circuit of single chip control module；Wireless communication module circuit refers to the inside of wireless communication module
Power supply circuits.The wherein in-line power circuit of motor drive module, the in-line power circuit of sound and light alarm module, voltage detecting mould
The in-line power circuit of block, the in-line power circuit of infrared detection module, the in-line power circuit of single chip control module, wireless
The concrete structure of the in-line power circuit of communication module can combine the reality of each module according to the general technology general knowledge of this area
Feature is designed, and the most also can refer to the circuit structure provided in the specific embodiment of the invention and realizes the present invention.
In above technical scheme, for meeting the use electrical feature of each module of robot, have matched three kinds of supply voltages, wireless
Communication module needs the voltage of 3.3V, motor and driving thereof to need 12V voltage, and other circuit need the voltage of 5V.So at machine
On the device person, the present invention devises 3 road Voltage stabilizing modules, exports the voltage that 3 tunnels are obstructed, to meet the need for electricity of modules.
First, the present invention uses the decompression voltage regulator module with LM2596 voltage stabilizing chip as core, by the voltage of battery
Being stabilized to 12V, the circuit for 12V such as motor driving and motors is powered.This decompression voltage regulator module is relatively more flexible, its input
Voltage range, 3～30V, has all added filter capacitor in input and output two ends, has wherein had an important electronic devices and components,
Can play the adjustable effect of output voltage, he is exactly variable resistance, is again potentiometer, uses voltage principle, controls
The voltage that the output of LM2596 chip is different.Followed by the voltage of 12V being inputed to 78L05 voltage stabilizing chip, fixing output 5V electricity
Pressure.This voltage stabilizing chip is the voltage stabilizing chip of linear voltage stabilization principle, and output electric current is up to 1.5A, it is sufficient to meet for each mould of robot
The demand that block circuit is powered.The 5V voltage of its output will supply single chip machine controlling circuit, sound light alarming circuit, voltage detecting electricity
Road, motor-drive circuit etc..78L05 is three-terminal voltage-stabilizing chip, has three pins, and 1 foot is input voltage, and 2 feet are ground connection, 3 feet
For output voltage, between input pin and ground, between output pin and ground, respectively add small one and large one filter capacitor, 100uF
Capacitive filter falls bigger clutter, and 104 capacitive filter fall less burr.Being finally the design of 3.3V voltage, 3.3V is mainly
Powering to 2.4G radio communication circuit, the present invention uses LM1117-3.3 linear voltage stabilization chip, is inputted by 5V voltage, through voltage stabilizing core
Export the voltage of 3.3V after sheet voltage stabilizing, work for 2.4G radio communication circuit.
The invention provides a kind of obstacle removing robot, this robot, with STM32F103VET6 as control core, is aided with
TB6612FNG motor drive module achieves the intelligence traveling of device, by wireless radio-frequency remote handle teleoperator, behaviour
Make the stroke of robot or route of removing obstacles.Robot, with encoder apparatus, forms closed loop control with motor-drive circuit, can have
The driving controlling robot of effect.Robot self with sound and light alarm module, the meeting when robot breaks down Anywhere
Trigger sound and light alarm.On this basis, centralized optimization of the present invention bulk supply circuit, for the purpose of the booster tension stability,
Need for electricity in conjunction with each operational module devises mu balanced circuit, thus ensure that the stability that robot runs.Software controls
Part uses C language programming, and hardware designs and software design combine, it is achieved thereby that the Remote of system, from dynamic(al) correction
Track, automatically the function such as remove obstacles.Whole system design is dexterous, algorithm is reasonable, precise control, it is possible to well realizes intelligence and removes obstacles
Function.
Accompanying drawing explanation
Fig. 1 is the overall power circuit diagram of the embodiment of the present invention 1 robot.
Fig. 2 is the oscillating circuit of the embodiment of the present invention 1 robot minimum system.
Fig. 3 is the reset circuit of the embodiment of the present invention 1 robot minimum system.
Fig. 4 is the power circuit of the STM32 single-chip microcomputer of the embodiment of the present invention 1 robot.
Fig. 5 is the debugging circuit of the STM32 single-chip microcomputer of the embodiment of the present invention 1 robot.
Fig. 6 is the sound and light alarm module circuit diagram of the embodiment of the present invention 1 robot.
Fig. 7 is the infrared detection module middle controller annexation figure with photoswitch of the embodiment of the present invention 1 robot.
Fig. 8 be the embodiment of the present invention 1 robot infrared detection module in the internal circuit diagram of photoswitch.
Fig. 9 be the embodiment of the present invention 1 robot spray cultivation module in electric water pump drive circuit figure.
Figure 10 be the embodiment of the present invention 1 robot voltage detection module in voltage signal change-over circuit figure.
Figure 11 is the Remote software flow chart of the embodiment of the present invention 1 robot.
Figure 12 is the embodiment of the present invention 1 robot overall operation model process figure.
Detailed description of the invention
The detailed description of the invention of the present invention will be described in detail below.In order to avoid the most unnecessary details,
To belonging to known structure or function will not be described in detail in following example.Approximation used in following example
Language can be used for quantitative expression, shows to allow quantity to have certain variation in the case of not changing basic function.Fixed except having
Outside justice, technology used in following example and scientific terminology have the phase being commonly understood by with those skilled in the art of the invention
Same implication.
Embodiment 1
The disclosure one weeding-type obstacle removing robot of the present embodiment system.
1, system hardware master-plan
Weed-eradicating robot is totally divided into two parts, and one is Digiplex, and two is intelligence weed-eradicating robot.First, wireless
Remote controller is by keyboard surface sweeping input, 2.4G wireless signal transmission, power supply voltage stabilizing, Single-chip Controlling, sound and light alarm, voltage detecting
Deng module composition；Secondly intelligence weed-eradicating robot includes intelligent vehicle domain (comprising motor and tire), drive circuit, single-chip microcomputer
The module compositions such as control, power supply voltage stabilizing, voltage detecting, sound and light alarm, infrared detection, 2.4 wireless serial communications and spray cultivation.
Digiplex utilizes each button on single chip machine controlling circuit ceaselessly surface sweeping keyboard, if having button by
Under, single-chip microcomputer can detect, and can identify it is which button is pressed actually, then corresponding key value is sent to monolithic
Machine, after single-chip microcomputer processes, the information after processing is sent to 2.4G wireless serial communication module, by it by user to intelligent machine
The various operations of device people are sent to robot itself, perform corresponding operation.
Intelligence weed-eradicating robot is then ceaselessly to receive remote controller by Single-chip Controlling 2.4G wireless serial communication module
The information sent, if having information, just returns to single-chip microcomputer by information, by single-chip microcomputer identification and process, processes through single-chip microcomputer
After, according to different orders, make different operations.The track route of intelligent robot can be controlled, including all around with
And the function such as brake, it is then to control the rotating of each motor by Single-chip Controlling motor-drive circuit to realize.Permissible
Control whether weeding module works, be to be realized by the motor of control weeding module.Weeding module spray medicine can be controlled
Direction, is controlled what mechanical hand realized by singlechip controller.Robot its cells electricity can be realized automatically detect, if
Operationally battery electric quantity is too low, has sound and light alarm, with show staff do not continue operate robot, should sail power station and
Time to robot battery charge.
2, the design details of each hardware module of system
The design of 2.1 power regulator modules
When battery be robot power time, owing to the overall power consumption of extremely people is not unalterable at run duration, single
The electric current of bit time internal consumption is sometimes the least, and the output of battery is certain, so electric current is big when, battery
Output voltage can reduce, some burrs of item can be gone out, some will be affected for the circuit that power reguirements is higher.In order to protect
Card robot overall operation is smooth, so various filter circuit of pressure-stabilizing have to be added.Burning voltage eliminates clutter or burr.
Remote controller part:
Remote controller uses 4 No. 7 AAA dry cell power supplies of joint, and 4 joint aneroid battery series voltages are 1.2*4=4.8V.The present invention
The running voltage of 2.4G wireless serial communication module is 3.3V, and the supply voltage of the ARM controller of employing is also 3.3V, therefore remote control
The core voltage of device to be stablized at about 3.3V.
Present invention model is the 3.3V voltage stabilizing chip of AMS1117-3.3, adds filter rectifier, for whole remote controller electricity
Road provides the burning voltage of 3.3V.
AMS1117-3.3 basic parameter:
1, absolute maximum rating:
Working junction temperature scope :-40～125 DEG C.
Input voltage: 15V.
Welding temperature (25 seconds): 265 DEG C.
Storage temperature :-65～150 DEG C.
2, electrical characteristic:
Output voltage: 3.267～3.333V (0≤IOUT≤1A, 4.75V≤VIN≤12V).
Line adjustment (maximum): 10mV (4.75V≤VIN≤12V).
Load regulation (maximum): 15mV (VIN=5V, 0≤IOUT≤1A).
Voltage difference (maximum): 1.3V.
Electric current limits: 900～1500mA.
Quiescent current (maximum): 10mA.
Ripple Suppression (minimum): 60dB.
Robot part:
The supply voltage of robot part has 3 kinds, and wireless serial communication and controller need the voltage of 3.3V, motor and
Driving needs 12V voltage, and other circuit need the voltage of 5V.So the present invention devises 3 road Voltage stabilizing modules with robot,
Export the voltage that 3 tunnels are obstructed, to meet the need for electricity of modules.
First, the present invention uses the decompression voltage regulator module with LM2596 voltage stabilizing chip as core, by the voltage of battery
Being stabilized to 12V, the circuit for 12V such as motor driving and motors is powered.This decompression voltage regulator module is relatively more flexible, its input
Voltage range, 3～30V, has all added filter capacitor in input and output two ends, has wherein had an important electronic devices and components,
Can play the adjustable effect of output voltage, he is exactly variable resistance, is again potentiometer, uses voltage principle, controls
The voltage that the output of LM2596 chip is different.
Followed by the voltage of 12V being inputed to 78L05 voltage stabilizing chip, fixing output 5V voltage.This voltage stabilizing chip is line
Property principle of stabilized voltage voltage stabilizing chip, output electric current up to 1.5A, it is sufficient to meet the demand powered for robot modules circuit.
The 5V voltage of its output will supply single chip machine controlling circuit, sound light alarming circuit, voltage detecting circuit, motor-drive circuit etc..
78L05 is three-terminal voltage-stabilizing chip, has three pins, and 1 foot is input voltage, and 2 feet are ground connection, and 3 feet are output voltage,
Between input pin and ground, respectively adding small one and large one filter capacitor between output pin and ground, 100uF capacitive filter falls relatively
Big clutter, 104 capacitive filter fall less burr.
Being finally the design of 3.3V voltage, 3.3V mainly powers to 2.4G radio communication circuit, and the present invention uses
LM1117-3.3 linear voltage stabilization chip, inputs 5V voltage, exports the voltage of 3.3V after voltage stabilizing chip voltage stabilizing, wireless for 2.4G
Telecommunication circuit works.
LM1117-3.3 with 78L05 is the same is also three-terminal voltage-stabilizing, and the function of the most each pin is slightly distinguished, and is 1 respectively
Foot is ground connection, 2 foot outputs, 3 foot inputs.
Its overall power circuit is as shown in Figure 1.
2.2 the design of single chip control module
The circuit of this intelligence weed-eradicating robot is the circuit design using digital programmable, robot part and remote control
Device part is all that the single-chip microcomputer using 32 is as each " brain ".The reception signal of each sensor is collected, according to accordingly by him
Logic send various order or instruction, control modules and perform different action, coordinate each module and jointly complete intelligence
The function of weeding.
2.2.1 robotic end
The controller of robot or perhaps processor, the present invention uses STM32 series monolithic based on ARM7 kernel
As the master controller of robot, concrete model is STM32F103VET6, and this controller is the processor of 32, has 100
Pin.
2.2.2 remote controller end
The CPU of remote controller end is to use STM32 single-chip microcomputer, the except for the difference that quantity of the pin of remote controller end single-chip microcomputer equally
Point fewer than robotic end, its single-chip microcomputer is the STM32F103C8T6 using 46 number of pins.Because, the circuit of remote controller than
The circuit of robot is the most, only one of which keyboard surface sweeping circuit, a unlimited serial communication circuit of 2.4G and a battery
3 circuit of electric power detection come by Single-chip Controlling, and the single-chip microcomputer with 46 pins is enough, although this single-chip microcomputer compares robot
Pin number a lot of less, but what its function and speed were just as.
2.2.3 specification
STM32F103x enhancement mode series uses high performanceCortexTMThe RISC kernel of-M3 32, work
Frequency is 72MHz, internal high-speed memories (flash memory of up to 512K byte and the SRAM of 64K byte), abundant enhancing I/O end
Mouth and the peripheral hardware being connected to two APB buses.Comprise the ADC of 3 12,4 general 16 bit timing devices and 2 PWM intervalometers,
Also comprise standard and advanced communication interface: up to 2 I 2C interfaces, 3 SPI interface, 2 I 2S interfaces, 1 SDIO connect
Mouth, 5 USART interfaces, a USB interface and a CAN interface.
STM32F103xx Large Copacity enhancement mode series of tasks is in the temperature range of-40 DEG C to+105 DEG C, supply voltage 2.0V
To 3.6V, a series of battery saving mode ensures the requirement of low-power consumption application.STM32F103xx Large Copacity enhancement mode series of products carry
For including 6 kinds of different packing forms from 64 feet to 144 feet；According to different packing forms, the peripheral configuration in device is not to the utmost
Identical.
2.2.4 minimum system
The single processor chips of only one of which are cisco unity malfunctions, and it is it is necessary to have peripheral drive circuit, so
Processor chips just constitute the minimum system of robot control module plus peripheral drive circuit.The minimum system of this robot
System, whether robotic end or remote controller end, it constitutes and is just as, be all with STM32 single-chip microcomputer as core, in addition electricity
The circuit such as source circuit, crystal oscillator oscillating circuit, reset circuit, program burn writing and debugging constitute the controller minimum system of robot
System.So it just can control robot and completes work.The oscillating circuit of minimum system as in figure 2 it is shown, its reset circuit such as
Shown in Fig. 3.
Reset circuit:
This reset circuit has electrification reset and button to reset, and electrification reset i.e. chip carries out once multiple when just powering on
Position, the purpose of reset is to allow the program pointer in chip return the place that program starts, rerun routine；Button resets
The extraneous artificial operation making chip once reset.
The reset of STM32 single-chip microcomputer is that low level resets, i.e. chip when the level on RESET pin is low level time
Reset.When minimum system has just powered in a flash, and electric capacity C2 is in the state of charging, it is considered as the wire of a conducting, institute
It is pulled low with reset pin RESET, promotes single-chip microcomputer once to reset；When two battery lead plates of electric capacity C2 be full of electric charge it
After, it being considered as an open circuit, it is high level that reset pin is pulled up circuit pull-up, and now single-chip microcomputer initially enters the normal shape worked
State.Button reset principle is fairly simple, it is simply that by a touch key, be connected, when button is pressed with ground by reset pin
Time, reset pin is shorted as low level, and chip reset is once.
Power circuit:
STM32 single-chip microcomputer is the chip that 3.3V powers, therefore needs to provide it with the stable voltage of 3.3V, and the present invention uses
REG1117-3.3V linear voltage stabilization chip, by inputting the voltage of 5V, adds the filter rectification electric capacity of input and output, exports one
The supply voltage of highly stable 3.3V, after having had a stable voltage, STM32 minimum system could be the most more stable more accurate
The program of the true execution present invention, completes the weeding function of the present invention.Its circuit is as shown in Figure 4.
SWD debugs circuit:
STM32 supports on-line debugging function, and this is just much better than traditional single-chip microcomputer, unusual debugging routine when
Convenient.Fig. 5 is the debugging circuit of SWD mode, and also the download of support program or programming.This has been had to download debugging circuit, only
Needs 4, with wire, just can complete debugging and the download function of the code of the present invention.In circuit, No. 1 wire is positive source
(3.3V), No. 4 wires are negative pole (ground connection), and No. 2 No. 3 is signal bus (SWDIO) and clock bus (SWDCLK), signal respectively
Bus is connected to the pull-up resistor of 10K ohm, and clock bus is connected to the pull down resistor of 10K ohm.
All of pin is utilized contact pin to draw by the minimum system of designed, designed of the present invention, can be used very advantageously in
System can the debugging of module.Each pin except having basic I O function, outside also have a lot of 2nd the 3rd functions, such as
A/D, D/A converter, SPI, IIC, USB, CAN, USART bus, PWM output etc..
The design of 2.3 sound and light alarm modules
Sound light alarming circuit, for when robot occurs some fault or special circumstances, starts and does with warning staff
Process work accordingly.Such as, robot is in running weeding process, when the electricity of battery is too low, starts and reports to the police, inform work
Personnel stop the work of robot, lose no time to charge to robot battery, and otherwise robot can be too low out of service because of electricity, it will
Stop in the electric field.
This sound light alarming circuit is fairly simple, has a buzzer (5V), LED (2-3V), an audion (PNP)
With two current-limiting resistance compositions.The running voltage of buzzer is at about 5V, and the STM32 single-chip microcomputer of the present invention is to have no ability to directly
Drive its, so to add an audion, play amplification electric current and the effect of voltage, and the power supply of light emitting diode (LED) is electric
Pressure cannot be below 3V, otherwise can burn out because voltage x current is excessive, so the present invention to add a current-limiting resistance.Audion is
PNP type, when base stage (Port foot) low level, triode ON, electric current is flowed into through the colelctor electrode of audion by VCC, sends out
Emitter-base bandgap grading flows out, and powers for buzzer and light emitting diode (LED), and now buzzer can sound, and LED can flash, as buzzer
The frequency of the frequency sounded and LED flicker is to be controlled by the program of single-chip microcomputer of the present invention.Otherwise, when Port is high level,
Audion is off, and buzzer and LED do not work.Sound and light alarm modular circuit is as shown in Figure 6.
Sound light alarming circuit is respectively arranged with one in robotic end and remote controller end.
2.4 infrared detection and the design of the module that keeps in obscurity
When staff controls robot ride or work with remote controller, unavoidably can because of staff do not note or
Carelessness, and cause robot to bump against (such as wall, stone etc.) on some things, the infrared module that keeps in obscurity is contemplated to prevent machine
People meets some barriers in the process of moving, when robot drives to the attached of barrier in the case of staff is unwitting
Time near, detected by the sensor of the infrared module that keeps in obscurity, output signal to controller, controller judge, stop machine automatically
The traveling of device people also triggers sound and light alarm module, to warn staff to control robot cut-through thing.
The present invention respectively placed an infrared module that keeps in obscurity (also known as Photoelectric infrared switch) in the front and back of robot.
The supply district of this photoswitch is bigger, and between 10～30V, the present invention uses the mode that 12V powers.Module has 3
Wire, is VCC, GND and holding wire respectively, and when there being barrier, module exports a low level, and normal condition is output high level.
Powering owing to using 12V, the output of its signal is also the voltage of 12V, and it is directly to connect that this voltage delivers to controller
Receiving, with the addition of a model on holding wire in this present invention is the diode of IN4007, utilizes the unilateral conduction of diode
The voltage avoiding 12V is directly fed to controller, the most as shown in Figure 7.
Photoswitch belongs to the normally opened type of NPN, does not i.e. have during barrier to export high level, exports low electricity when having barrier
Flat.The present invention is arranged to the corresponding pin that receives of controller to pull up input pattern, when not having barrier, has diode
Unilateral conduction, the high level of 12V is blocked, and controller pin is the high level of the 3.3V of acquiescence, when there being barrier, output
Low level model, now diode be conducting state, the pin of controller is pulled low, controller read one low level
Signal.
It addition, place placed below powder charge bucket an infrared detection sensor (be slightly different from the infrared module that keeps in obscurity,
But principle is identical).This module also has 3 pins, is VCC, GND and holding wire the most respectively, and except for the difference that it has only to 5V confession
Electricity just can normally work, and its output signal is also compatible with the input signal in controller, so its holding wire can be directly connected to
On the corresponding pin of singlechip controller.
This sensor is whether to have placed bucket before measuring robots runs spray medicine.If staff's spray to be opened
Medicine, if bucket is out of place, electric water pump extracts less than liquid, is unfavorable for the life-span of electric water pump.So, the present invention needs
Detect whether powder charge bucket to be placed, if do not put well, detected by infrared sensor, output signal to controller,
Water pump is arranged to disabled state by controller, even if at this moment staff controls to open spray medicine by remote controller, water pump also will not
Work, ensure that the service life of electric water pump the most significantly.
Both the above sensor, whether photoswitch or infrared sensor, their operation principle is the same, all
Being made up of an infrared transmitting tube and an infrared receiving tube, when there being barrier, tube-launched infrared ray is reflected
Returning, received pipe and receive, infrared receiving tube is an audion, as shown in Figure 8, when infrared audion receives infrared ray,
Triode ON, No. 2 No. 3 pins of comparator are all pulled low, therefore 1 foot output low level.Otherwise, there is no barrier, audion
Not receiving infrared ray, No. 3 pins are driven high, 1 foot output high level of comparator.
The design of 2.5 spray cultivation modules
The weeding module of the weed-eradicating robot of the present invention is that the mode using spraying herbicide is with the weeding reached
Purpose.
Carry the bucket of 2L in robot car, be used for being contained in herbicide, be furnished with small pump, by the herbicide in bucket
Extraction, is sent to spraying nozzle through conduit.Shower nozzle is secured on mechanical arm, and such mechanical arm can spray with 180 ° drive
Fog spray head carries out the spray medicine work in all directions.The motion in 180 ° of directions of mechanical arm and spray amount are all to pass through wireless remote control
Device sends what dependent instruction controlled.
It addition, the container of powder charge agent is dismountable, staff is when allotment and loading medicament, by container from robot
On take off, again container is installed in robot after medicament installs to container.The most more convenient and safety.
The electric water pump of spray medicine is to use 12V power voltage supply, and the STM32 controller of the present invention is directly to control
, so, the folding of present invention Single-chip Controlling relay here reaches to control whether electric water pump works.In relay
Between device and the pin of controller, the present invention also needs to connect an audion, is used for amplifying electric current.The circuit diagram of electric water pump is such as
Shown in Fig. 9.
The size of Water pump spraying, is to be controlled by the rotating speed of control pump motor, as passed through potentiometer R2 in Fig. 9
Dividing potential drop current limliting principle, controls the rotating speed of pump motor.
2.6 mechanical hands and the design of mechanical arm module
The design of the mechanical arm of weed-eradicating robot is to use 4 steering wheels and some aluminium alloy posts to constitute, and 4 steering wheels are respectively
Control the joint of 4 mechanical arms.Mechanical hand is then to use an aluminum alloy machinery arm to add a steering wheel to constitute, and this steering wheel is
Control the folding of mechanical arm, it is achieved the crawl of the chips such as weeds.
Mechanical hand and mechanical arm it is important that control the steering wheel of each joint motions, these servos control are good, just etc.
In creating secondary good mechanical arm or a mechanical hand.Mechanical hand and mechanical arm have shared 4 steering wheels, and the model of 4 steering wheels is
MG499 steering wheel.
MG995 steering wheel parameter:
Structure material: simulation metallic copper tooth, hollow-cup motor, double ball bearings.
Connecting line length: 30 centimetres, holding wire (yellow line) red line (power line) dark red (ground wire)
Size: 40.7*19.7*42.9mm.
Weight: 55 grams.
Reaction rotating speed: no-load speed 0.17 second/60 degree (4.8V)；0.13 second/60 degree (6.0V).
Work dead band: 4 microseconds.
Plug specification: JR FUTABA is general.
Running voltage；3.0V-7.2V.
Operation torque: 13KG/cm.
Use temperature :-30～～+60 degrees Celsius.
The design of 2.7 own power source voltage detection module
Its cells electric power detection present invention is that the mode of the output voltage using detection battery realizes, and utilizes
16 bit A/D converters that STM32 single-chip microcomputer carries, input to a/d converter by voltage signal (analogue signal), and Chip Microcomputer A/D is changed
Device is changed, and reads AD depositor, shown by the virtual voltage after conversion through specific algorithm in program.Due to
The output voltage of battery is between 11V-13V, and the AD analog input voltage of single-chip microcomputer is between 2.5-3.6V, so directly will
It is not all right that the voltage signal of battery sends into a/d converter, it is necessary to the voltage of battery is converted into the input range of AD analog voltage
In, here the present invention utilizes the principle of series and parallel compensated resistance dividing potential drop current limliting to change voltage.Concrete change-over circuit is as such as Figure 10 institute
Show.
Wherein, 12 ADC are a kind of successive approximation simulation digital converter.It has 18 passages, can measure outside 16
Portion and 2 internal signal sources.The A/D conversion of each passage can perform with single, continuous, scanning or discontinuous mode.The result of ADC can
It is stored in 16 bit data register with left-justify or Right Aligns mode.Simulation house dog characteristic allows application program detection input
Whether voltage is beyond user-defined high/low threshold values.Its performance characteristic is as follows:
12-bit resolution；
EOC, injects EOC and occurs to produce during simulation house dog event to interrupt；
Single and continuous translative mode；
Automatic scan pattern from passage 0 to passage n；
Self calibration；
With the alignment of data that embedded data is consistent；
Between passage, the sampling interval is able to programme；
Rule conversion and injection conversion all have external trigger option；
Discontinuous mode；
Double-mode (with 2 or the device of above ADC)；
ADC changes the time: STM32F103xx enhancement mode product: ADC clock into during 56MHz into 1 μ
S (ADC clock be 72MHz be 1.17 μ s)；
ADC power reguirements: 2.4V to 3.6V；
ADC input range: VREF-≤VIN≤VREF+；
DMA request is had to produce during rule Channel-shifted.
The design of 2.8 2.4G wireless serial communication modules
NRF24L01 is a new single chip radio-frequency receiving-transmitting device, works in 2.4GHz～2.5GHz ISM band.Built-in
The functional modules such as frequency synthesizer, power amplifier, crystal oscillator, manipulator, and merged enhancement mode ShockBurst skill
Art, wherein output and communication channel can be configured by program.NRF24L01 is low in energy consumption, sends out at the power with-6dBm
When penetrating, operating current also only has 9mA；During reception, operating current only has 12.3mA, multiple low-power working mode (power-down mode
And idle pulley) make energy-saving design more convenient.
In weed-eradicating robot, wireless remote control is divided into two parts, and one is handheld terminal remote controller emitting portion, and two is robot
Receiving portion.
2.9 the design of motor drive module
Direct current generator is controlled by constant current constant voltage driving chip TB6612FNG, comprises 4 channel logics and drive inside TB6612FNG
Galvanic electricity road, in that context it may be convenient to drive direct current generator, this module is a lot of relative to improving in traditional L298N efficiency.
The merits such as motor is driven and can be controlled by the logic level of single-chip microcomputer, can play the rotating of motor, braking, speed governing
Energy.The rotating of motor and braking kinetic energy are to be controlled by the logic level of single-chip microcomputer, and the rotary speed of motor is to pass through
Single-chip microcomputer send the pulse signal of different duty to control, and the frequency of pulse signal is up to 100MHz.
The design of 2.10 robot car bodies
Robot car chassis uses the dolly chassis of four-wheel drive, the metal motor as power output of 4 25MM, and adopts
With the big foot tire of 4 130MM.
The size of dolly chassis: long: 33.5cm, wide: 27.0cm, high: 13.0cm.
The operations such as intelligent robot can realize advancing, and retreats, and turns left, right-hand rotation.These actions are all to pass through Digiplex
Operate.By controlling the positive and negative dress of motor of the right and left or differential realizes when wherein turning left and turn right.
Robot car domain have passed through again the reinforcing operation of the present invention, and robot has been done one by present invention aluminum alloy plate materials
A little corresponding DIY, one plays the effect of reinforcing, and two play effect attractive in appearance, and three play the fixation of each module.
The design of 2.11 Robot remote's devices
Digiplex Preliminary design has 1 shift knob and 11 touch keys, is 4 respectively and controls robot ride
Directionkeys, 4 control mechanical arms directionkeys, 1 control whether spray medicine button, the folding button of 2 control mechanical hands.
The power supply of remote controller uses two No. 7 AAA dry cell power supplies of joint.Remote control distance at field up to 100m.
3, the design of systems soft ware
3.1 development languages and instrument
Development language: C, C++, compilation.
Developing instrument: Keil uVision5
Program burn writing and downloaded software: mcuisp, UartAssist
Software debugging software: J-Link, COM Debug Assistant
Electric circuit diagram design software: Altium Designer 10.5
Development board: prairie fire STM32 series exploitation plate
3.2 Remote software designs
The remote controller of weed-eradicating robot has 3 parts, keyboard surface sweeping, battery electric quantity detection, 2.4G wireless serial communication.Soft
Part present invention employs two general purpose timers and a serial ports intervalometer on realizing, and two general purpose timers are used separately as keyboard
Surface sweeping and the work of battery electric quantity AD conversion, serial ports intervalometer is used for will send information to robotic end.Inner in mastery routine (main)
The initial work of these modules and some other trifling little work are mainly done.Remote software flow chart such as Figure 11
Shown in
3.3 robot software's designs
The present invention opens a serial ports interrupts, and receives the data that 2.4G wireless serial receives；Open 2 general timings
Device, 4 passages of an intervalometer drive mechanical hand and mechanical arm for generating 4 road PWM, and another intervalometer is for timing
Check and treatment of battery electric power detection i.e. AD conversion；The logical order of other module has write in mastery routine (main).Robot
Overall operation model process figure as shown in figure 12.
Embodiment 2
A kind of obstacle removing robot, including power supply, single chip control module, sound and light alarm module, voltage detection module, infrared
Detection module, wireless communication module, motor drive module, LM2596 chip, 78L05 voltage stabilizing chip, LM1117-3.3 voltage stabilizing core
Sheet, wherein said power supply is 24V lithium battery, and the outfan of described power supply is connected with the input wire of LM2596 chip,
The outfan of LM2596 chip by two line conductors respectively with the input of 78L05 voltage stabilizing chip, motor drive module circuit
Input connects, the outfan of 78L05 voltage stabilizing chip by six line conductors respectively with the input of LM1117-3.3 voltage stabilizing chip,
The input of single chip control module circuit, the input of sound and light alarm modular circuit, the input of voltage detection module circuit,
The input of infrared detection modular circuit, the input of motor drive module circuit connect, LM1117-3.3 voltage stabilizing chip defeated
Go out end to be connected with the input wire of wireless communication module；Sound and light alarm module, voltage detection module, infrared detection module, nothing
Line communication module, motor drive module communicate to connect with single chip control module respectively.
On the basis of above technical scheme, meet following condition:
Described single chip control module is STM32 series monolithic based on ARM7 kernel.
Described single chip control module be model be the single-chip microcomputer of STM32F103VET6.
Described sound and light alarm module includes a buzzer, a LED, an audion, the first current-limiting resistance, second
Current-limiting resistance.
Described audion is PNP type.
The colelctor electrode of described audion is connected with the wire of output terminal of 78L05 voltage stabilizing chip, the base stage of audion and monolithic
Being in series with the first current-limiting resistance on the connection of machine control module circuit lead, this wire, the emitter stage of audion passes through a line conductor
Via buzzer ground connection, the emitter stage of audion, via LED ground connection another line conductor described is also gone here and there by another line conductor
It is associated with the second current-limiting resistance.
Described infrared detection module includes controller and photoswitch, passes through signal between described controller and photoswitch
Line connects, and described holding wire is in series with diode.
The conducting direction of described diode is to photoswitch by controller.
Described voltage detection module is the voltage-mode that cell output voltage is first converted into 2.5V to the detection of supply voltage
Plan signal, then be input to the a/d converter realization of single-chip microcomputer.
Described wireless communication module be model be the Monolithic RF transceiver part of nRF24L01.
Embodiment 3
A kind of obstacle removing robot, including power supply, single chip control module, sound and light alarm module, voltage detection module, infrared
Detection module, wireless communication module, motor drive module, LM2596 chip, 78L05 voltage stabilizing chip, LM1117-3.3 voltage stabilizing core
Sheet, wherein said power supply is 24V lithium battery, and the outfan of described power supply is connected with the input wire of LM2596 chip,
The outfan of LM2596 chip by two line conductors respectively with the input of 78L05 voltage stabilizing chip, motor drive module circuit
Input connects, the outfan of 78L05 voltage stabilizing chip by six line conductors respectively with the input of LM1117-3.3 voltage stabilizing chip,
The input of single chip control module circuit, the input of sound and light alarm modular circuit, the input of voltage detection module circuit,
The input of infrared detection modular circuit, the input of motor drive module circuit connect, LM1117-3.3 voltage stabilizing chip defeated
Go out end to be connected with the input wire of wireless communication module；Sound and light alarm module, voltage detection module, infrared detection module, nothing
Line communication module, motor drive module communicate to connect with single chip control module respectively.
On the basis of above technical scheme, meet following condition:
Described single chip control module be model be the single-chip microcomputer of STM32F103VET6.
Described sound and light alarm module includes a buzzer, a LED, an audion, the first current-limiting resistance, second
Current-limiting resistance.
Described infrared detection module includes controller and photoswitch, passes through signal between described controller and photoswitch
Line connects, and described holding wire is in series with diode.
Described voltage detection module is the voltage-mode that cell output voltage is first converted into 3.6V to the detection of supply voltage
Plan signal, then be input to the a/d converter realization of single-chip microcomputer.
Embodiment 4
A kind of obstacle removing robot, including power supply, single chip control module, sound and light alarm module, voltage detection module, infrared
Detection module, wireless communication module, motor drive module, LM2596 chip, 78L05 voltage stabilizing chip, LM1117-3.3 voltage stabilizing core
Sheet, wherein said power supply is 24V lithium battery, and the outfan of described power supply is connected with the input wire of LM2596 chip,
The outfan of LM2596 chip by two line conductors respectively with the input of 78L05 voltage stabilizing chip, motor drive module circuit
Input connects, the outfan of 78L05 voltage stabilizing chip by six line conductors respectively with the input of LM1117-3.3 voltage stabilizing chip,
The input of single chip control module circuit, the input of sound and light alarm modular circuit, the input of voltage detection module circuit,
The input of infrared detection modular circuit, the input of motor drive module circuit connect, LM1117-3.3 voltage stabilizing chip defeated
Go out end to be connected with the input wire of wireless communication module；Sound and light alarm module, voltage detection module, infrared detection module, nothing
Line communication module, motor drive module communicate to connect with single chip control module respectively.
Above embodiments of the invention are described in detail, but described content have been only presently preferred embodiments of the present invention,
Not in order to limit the present invention.All any amendment, equivalent and improvement etc. made in the application range of the present invention, all should
Within being included in protection scope of the present invention.
Claims (10)
1. an obstacle removing robot, it is characterised in that include power supply, single chip control module, sound and light alarm module, voltage detecting
Module, infrared detection module, wireless communication module, motor drive module, LM2596 chip, 78L05 voltage stabilizing chip, LM1117-
3.3 voltage stabilizing chips, wherein said power supply is 24V lithium battery, the outfan of described power supply and the input wire of LM2596 chip
Connect, the outfan of LM2596 chip by two line conductors respectively with the input of 78L05 voltage stabilizing chip, motor drive module electricity
The input on road connects, and the outfan of 78L05 voltage stabilizing chip is defeated with LM1117-3.3 voltage stabilizing chip respectively by six line conductors
Enter end, the input of single chip control module circuit, the input of sound and light alarm modular circuit, voltage detection module circuit defeated
Enter end, the input of the input of infrared detection modular circuit, motor drive module circuit connects, LM1117-3.3 voltage stabilizing chip
Outfan be connected with the input wire of wireless communication module；Sound and light alarm module, voltage detection module, infrared detection mould
Block, wireless communication module, motor drive module communicate to connect with single chip control module respectively.
A kind of obstacle removing robot the most according to claim 1, it is characterised in that described single chip control module be based on
The STM32 series monolithic of ARM7 kernel.
A kind of obstacle removing robot the most according to claim 2, it is characterised in that described single chip control module is that model is
The single-chip microcomputer of STM32F103VET6.
A kind of obstacle removing robot the most according to claim 1, it is characterised in that described sound and light alarm module includes a honeybee
Ring device, a LED, an audion, the first current-limiting resistance, the second current-limiting resistance.
A kind of obstacle removing robot the most according to claim 4, it is characterised in that described audion is PNP type.
A kind of obstacle removing robot the most according to claim 5, it is characterised in that the colelctor electrode of described audion is steady with 78L05
The wire of output terminal of pressure chip connects, and the base stage of audion is connected with single chip control module circuit lead, series connection on this wire
Having the first current-limiting resistance, the emitter stage of audion is by a line conductor via buzzer ground connection, and the emitter stage of audion is by another
One line conductor, via LED ground connection, another line conductor described is also in series with the second current-limiting resistance.
A kind of obstacle removing robot the most according to claim 1, it is characterised in that described infrared detection module includes controller
And photoswitch, it is connected by holding wire between described controller and photoswitch, described holding wire is in series with diode.
A kind of obstacle removing robot the most according to claim 7, it is characterised in that the conducting direction of described diode is by controlling
Device processed is to photoswitch.
A kind of obstacle removing robot the most according to claim 1, it is characterised in that described voltage detection module is to supply voltage
Detection be first cell output voltage is converted into 2.5～3.6V voltage analog signal, then be input to the AD of single-chip microcomputer
Transducer realizes.
A kind of obstacle removing robot the most according to claim 1, it is characterised in that described wireless communication module is that model is
The Monolithic RF transceiver part of nRF24L01.
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| CN109434859A (en) * | 2018-11-27 | 2019-03-08 | 浙江理工大学 | A kind of Remote Robot Control System and method based on VR technology |
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