CN107102585A - A kind of real-time embedded adaptive pushing device - Google Patents
A kind of real-time embedded adaptive pushing device Download PDFInfo
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- CN107102585A CN107102585A CN201710303713.9A CN201710303713A CN107102585A CN 107102585 A CN107102585 A CN 107102585A CN 201710303713 A CN201710303713 A CN 201710303713A CN 107102585 A CN107102585 A CN 107102585A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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Abstract
The present invention relates to a kind of real-time embedded adaptive pushing device, belong to electronic technology field.The present invention includes angular surveying circuit, serial communication circuit, single chip circuit, sound light alarming circuit, the stepper motor driving circuit of height regulation, the stepper motor of height regulation, the stepper motor driving circuit promoted, the stepper motor promoted, power supply.The present invention measures the angle of inclination of mobile device with respect to the horizontal plane in traveling process by the obliquity sensor of bottom of device, feedback signal reaches single-chip microcomputer, the height regulation stepper motor of single-chip microcomputer control afterwards adjusts the height of mobile device, so as to reach the state of mobile device bottom and plane-parallel, it is simple in construction, it is with low cost, effectively reduce manpower and time cost.
Description
Technical field
The present invention relates to a kind of real-time embedded adaptive pushing device, belong to electronic technology field.
Background technology
As electronic technology is in real-life extensive use, it is life and work that people, which increasingly experience electronic product,
The various facilities that industry is brought, booming, the more life of people and industrialized production and control of automatic technology
Bring wide prospect.Existing mobile device runs into slope angle and bad adjustment when tilting, and traditional mobile device exists
Often it can not all be adjusted when inclined slope angle or mobile device run-off the straight are run into moving process, so as to influence movement
The work of device.This, exactly such issues that solve to design, can operate with multiple fields using new.
The content of the invention
The technical problem to be solved in the present invention is：The present invention provides a kind of real-time embedded adaptive pushing device, this
How to adjust and move in time during invention slope angle and tilt problem that mainly solution mobile device runs into progradation
Problem, is additionally added propulsion system so that device can be moved more labour-saving in progradation in addition.
The technical scheme is that：A kind of real-time embedded adaptive pushing device, including angular surveying circuit 1, string
Port communications circuit 2, single chip circuit 3, sound light alarming circuit 4, the stepper motor driving circuit 5 of height regulation, height are adjusted
Stepper motor 6, the stepper motor driving circuit 7 promoted, the stepper motor 8 promoted, power supply 9；
The angular surveying circuit 1 is used to measure the inclination angle of pushing device and is connected with serial communication circuit 2, serial communication circuit
2 are connected with single chip circuit 3, the stepper motor driving circuit that single chip circuit 3 is adjusted with sound light alarming circuit 4, height respectively
5th, the stepper motor driving circuit 7 promoted is connected, the stepper motor driving circuit 5 and the stepper motor of height regulation of height regulation
Group 6 is connected, and the stepper motor driving circuit 7 of propulsion is connected with the stepper motor 8 promoted, and the circuit of power supply 9 is surveyed with angle respectively
Measure circuit 1, serial communication circuit 2, single chip circuit 3, the stepper motor driving circuit 5 of height regulation, the stepper motor promoted
Drive circuit 7 is connected.
The angular surveying circuit 1 includes resistance R12, resistance R13, resistance R14, resistance R15, resistance R16, diode
D4, diode D5, obliquity sensor Y2；Wherein obliquity sensor Y2 A ends are connected with diode D4 anode, while and resistance
R15 one end is connected, and obliquity sensor Y2 B ends are connected with diode D5 anode, while be connected with resistance R16 one end,
Diode D4 negative electrode is connected with diode D5 negative electrode, one end phase of resistance the R15 other end and resistance R12, resistance R13
Even, while connect No. 7 pins of the chip RS485 in serial communication circuit 2, resistance R12 a terminating resistor R15, resistance R13 and
Chip RS485 No. 7 pins, resistance R13 a terminating resistor R15, resistance R12 and chip RS485 No. 7 pins, resistance R12
Another termination 5V voltages, the resistance R16 other end is connected with one end of the resistance R13 other end and resistance R14, while connecing chip
RS485 No. 6 pins, resistance R13 another terminating resistor R14, resistance R16 and chip RS485 No. 6 pins, resistance R14's
No. 6 pins of the one terminating resistor R13 other ends and resistance R16 and chip RS485, resistance R14 other end ground connection.
The serial communication circuit 2 includes chip RS485, resistance R6, resistance R7, resistance R8, resistance R9, resistance R10, electricity
Hinder R11, the photoelectric coupled circuit TIL117A being made up of respectively triode and photodiode, photoelectric coupled circuit TIL117B, photoelectric coupled circuit
TIL117C；In TIL117 photoelectric coupled circuits, just extremely No. 1 pin of photodiode, the negative pole of photodiode is No. 2 pipes
Pin, extremely No. 4 pins of transmitting of triode, extremely No. 5 pins of current collection of triode：Its chips RS485 No. 4 pins connect
TIL117A No. 2 pins, TIL117A No. 1 pin connecting resistance R7 one end, resistance R7 another termination 5V voltages,
TIL117A No. 4 pins ground connection, TIL117A No. 5 pin connecting resistance R6 one end and the P3.0 mouths of single-chip microcomputer, resistance R6's
Another termination 5V, chip RS485 No. 1 pin connect TIL117B No. 3 pins and resistance R9 one end, the resistance R9 other end
5V is met, TIL117B No. 4 pins ground connection, TIL117B No. 2 pins connect the P3.1 mouths of single-chip microcomputer, and TIL117B No. 1 pin connects
Resistance R8 one end, resistance R8 another termination 5V, No. 2 of chip RS485, No. 3 pins connect the P1.0 mouths and resistance of single-chip microcomputer
R11 one end, TIL117C No. 4 pins, resistance R11 other end ground connection, TIL117C No. 3 pins connect 5V voltages,
TIL117C No. 1 pin connecting resistance R10 one end, resistance R10 another termination 5V voltages, TIL117C No. 2 pin orders
The P1.0 mouths of piece machine, chip RS485 No. 8 pins connect 5V voltages, and chip RS485 connects No. 5 pin ground connection.
The single chip circuit 3 includes reset circuit and clock circuit, including resistance R1, resistance R2, electric capacity C1, electricity
Hold C2, electric capacity C3, reset switch SB1, crystal oscillator Y1, single-chip microcomputer；Wherein reset circuit is the RST9 pin connecting resistances of single-chip microcomputer
R1 and resistance R2 one end, while connecing electric capacity C3 positive terminal, resistance R1 other end ground connection, resistance R2 another termination is answered
Bit switch SB1 one end and 5V voltages, electric capacity C3 negative pole terminate the other end of reset switch；Crystal oscillating circuit is single-chip microcomputer
XTAL1 connects crystal oscillator Y1 and electric capacity C1 one end, and the XTAL2 of single-chip microcomputer connects the other end of crystal oscillator and electric capacity C2 one end, electric capacity C1
The other end and the electric capacity C2 other end connect and be grounded, while the VSS connecting resistances R18 of single-chip microcomputer one end, resistance R18DE
The other end is grounded, and VCC connects connecting resistance R17 one end, resistance R17 another termination 5V voltage.
The sound light alarming circuit 4 include resistance R3, resistance R4, resistance R5, light emitting diode is red, light emitting diode is green,
Triode Q1, buzzer；Wherein a terminating resistor R3, resistance R4 one end and the 5V voltages of buzzer, the resistance R3 other end
The red positive pole of sending and receiving optical diode, the red negative pole of light emitting diode connects the P1.1 mouths of single-chip microcomputer, resistance R4 other end sending and receiving light
The green positive pole of diode, the green negative pole of light emitting diode connects the P1.2 mouths of single-chip microcomputer, the collection of another termination triode of buzzer
Electrode, the grounded emitter of triode, the base stage connecting resistance R5 of triode one end, the resistance R5 other end connects single-chip microcomputer
P1.3 mouthfuls.
The stepper motor driving circuit 5 of the height regulation and the stepper motor 6 of height regulation include chip
ULN2803a, chip ULN2803c, stepper motor M1, stepper motor M2, stepper motor M5, stepper motor M6；Wherein
ULN2803a pin IN1-IN8 meets the P0.0-P0.7 of single-chip microcomputer, and chip ULN2803a pin OUT1-OUT4 connects step respectively
Stepper motor M5 b, c, d, f interface, b, c, d, f that chip ULN2803a pin OUT5-OUT8 meets stepper motor M6 respectively connects
Mouthful, stepper motor M5, M6 a interfaces connect 5V voltages, and chip ULN2803a No. 9 pins ground connection, chip ULN2803a VCC connects
5V voltages；ULN2803c pin IN1-IN8 meets the P2.0-P2.7 of single-chip microcomputer, OUT1-OUT4 points of chip ULN2803c pin
Do not connect stepper motor M7 b, c, d, f interface, chip ULN2803c pin OUT5-OUT8 connect respectively stepper motor M8 b, c,
D, f interface, stepper motor M7, M8 a interfaces connect 5V voltages, and chip ULN2803c No. 9 pins are grounded, chip ULN2803c's
VCC connects 5V voltages.
The stepper motor driving circuit 7 of the propulsion and the stepper motor 8 promoted include chip ULN2803b, chip
ULN2803d, stepper motor M3, stepper motor M4, stepper motor M7, stepper motor M8；Wherein ULN2803b pin IN1-
IN8 meets the P0.0-P0.7 of single-chip microcomputer, and b, c, d, f that chip ULN2803b pin OUT1-OUT4 meets stepper motor M3 respectively connect
Mouthful, chip ULN2803b pin OUT5-OUT8 connects stepper motor M4 b, c, d, f interface, stepper motor M3, M4 a respectively
Interface connects 5V voltages, and chip ULN2803b No. 9 pins ground connection, chip ULN2803b VCC connects 5V voltages；ULN2803d pipe
Pin IN1-IN8 meets the P2.0-P2.7 of single-chip microcomputer, chip ULN2803d pin OUT1-OUT4 connect respectively stepper motor M7 b,
C, d, f interface, chip ULN2803d pin OUT5-OUT8 connect stepper motor M8 b, c, d, f interface, stepper motor respectively
M7, M8 a interfaces connect 5V voltages, and chip ULN2803d No. 9 pins ground connection, chip ULN2803d VCC connects 5V voltages.
The present invention measures mobile device in traveling process with respect to the horizontal plane by the obliquity sensor of bottom of device
Angle of inclination, feedback signal reaches single-chip microcomputer, and the height regulation stepper motor of single-chip microcomputer control afterwards adjusts the height of mobile device
Degree, so as to reach the state of mobile device bottom and plane-parallel, the stepper motor of propulsion plant can be mobile device
Extra power is provided, reduced manually, whether sound and light alarm teaching process person angle of inclination can be solved with highly adjusting.The hair
Bright modern design, it is simple to operate and safe and efficient.
The beneficial effects of the invention are as follows：It is simple in construction, it is with low cost, effectively reduce manpower and time cost, Ke Yitong
The angle that obliquity sensor measures pushing device is crossed, and inclination angle situation is reflected to single-chip microcomputer so that height stepper motor leads to
The lifting that worm screw carries out height is crossed, finally causes device to reach the state with horizontal equilibrium, promotes stepper motor to cause device
Can be voluntarily push ahead, and sound and light alarm can be with the working condition of notifying mobile device, in the application safety of industrial aspect
It is convenient.
Brief description of the drawings
Fig. 1 is the structure connection figure of the present invention；
Fig. 2 is the single chip circuit of the present invention；
Fig. 3 is the angular surveying circuit of the present invention；
Fig. 4 is the serial communication circuit of the present invention；
Fig. 5 is the sound light alarming circuit of the present invention；
Fig. 6 is the stepper motor driving circuit and stepper motor of the height regulation of the present invention；
Fig. 7 is the stepper motor driving circuit and stepper motor of the propulsion of the present invention；
Fig. 8 is the general frame figure of the mobile device of the present invention；
Fig. 9-10 is the front view and left view of the mobile device of the present invention.
In figure it is each marked as：1- angular surveying circuit, 2- serial communication circuits, 3- single chip circuits, 4- sound and light alarms electricity
The driving stepper motor electricity that stepper motor that stepper motor driving circuit that road, 5- are highly adjusted, 6- are highly adjusted, 7- are promoted
Road, the stepper motor of 8- propulsions, 9- power supplys, 10- obliquity sensors, the stepper motor that 11- is highly adjusted, 12- turbine push rods,
The stepper motor that 13- is promoted, 14- fixing axles, 15- tyre in motion, 16- casings.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the invention will be further described.
Embodiment：As Figure 1-10 shows, a kind of real-time embedded adaptive pushing device, including angular surveying
Circuit 1, serial communication circuit 2, single chip circuit 3, sound light alarming circuit 4, the stepper motor driving circuit 5 of height regulation, height
The stepper motor 6 for spending regulation, the stepper motor driving circuit 7 promoted, the stepper motor 8 promoted, power supply 9；
The angular surveying circuit 1 is used to measure the inclination angle of pushing device and is connected with serial communication circuit 2, serial communication circuit
2 are connected with single chip circuit 3, the stepper motor driving circuit that single chip circuit 3 is adjusted with sound light alarming circuit 4, height respectively
5th, the stepper motor driving circuit 7 promoted is connected, the stepper motor driving circuit 5 and the stepper motor of height regulation of height regulation
Group 6 is connected, and the stepper motor driving circuit 7 of propulsion is connected with the stepper motor 8 promoted, and the circuit of power supply 9 is surveyed with angle respectively
Measure circuit 1, serial communication circuit 2, single chip circuit 3, the stepper motor driving circuit 5 of height regulation, the stepper motor promoted
Drive circuit 7 is connected.
As the further scheme of the present invention, the angular surveying circuit 1 can be using following design：Angular surveying circuit
1 includes resistance R12, resistance R13, resistance R14, resistance R15, resistance R16, diode D4, diode D5, obliquity sensor Y2；
Wherein obliquity sensor Y2 A ends are connected with diode D4 anode, while be connected with resistance R15 one end, obliquity sensor
Y2 B ends are connected with diode D5 anode, while be connected with resistance R16 one end, diode D4 negative electrode and diode D5
Negative electrode be connected, the resistance R15 other end is connected with resistance R12, resistance R13 one end, while connecing in serial communication circuit 2
Chip RS485 No. 7 pins, resistance R12 a terminating resistor R15, resistance R13 and chip RS485 No. 7 pins, resistance R13
A terminating resistor R15, resistance R12 and chip RS485 No. 7 pins, another termination 5V voltages of resistance R12, resistance R16's is another
One end is connected with the resistance R13 other end and resistance R14 one end, while connecing chip RS485 No. 6 pins, resistance R13's is another
One terminating resistor R14, resistance R16 and chip RS485 No. 6 pins, resistance R14 a terminating resistor R13 other ends and resistance
R16 and chip RS485 No. 6 pins, resistance R14 other end ground connection.
As the further scheme of the present invention, the serial communication circuit 2 can be using following design：The serial communication
Circuit 2 include chip RS485, resistance R6, resistance R7, resistance R8, resistance R9, resistance R10, resistance R11, respectively by triode and
Photoelectric coupled circuit TIL117A, photoelectric coupled circuit TIL117B, the photoelectric coupled circuit TIL117C of photodiode composition；In TIL117 optocouplers
In circuit, just extremely No. 1 pin of photodiode, the negative pole of photodiode is No. 2 pins, the transmitting extremely 4 of triode
Number pin, extremely No. 5 pins of current collection of triode：Its chips RS485 No. 4 pins connect TIL117A No. 2 pins,
TIL117A No. 1 pin connecting resistance R7 one end, resistance R7 another termination 5V voltages, TIL117A No. 4 pins ground connection,
TIL117A No. 5 pin connecting resistance R6 one end and the P3.0 mouths of single-chip microcomputer, resistance R6 another termination 5V, chip RS485's
No. 1 pin connects TIL117B No. 3 pins and resistance R9 one end, and resistance R9 another termination 5V, TIL117B No. 4 pins connect
Ground, TIL117B No. 2 pins connect the P3.1 mouths of single-chip microcomputer, TIL117B No. 1 pin connecting resistance R8 one end, and resistance R8's is another
One termination 5V, No. 2 of chip RS485, No. 3 pins connect P1.0 mouths of single-chip microcomputer and resistance R11 one end, No. 4 of TIL117C manage
Pin, resistance R11 other end ground connection, TIL117C No. 3 pins connect 5V voltages, the one of TIL117C No. 1 pin connecting resistance R10
End, resistance R10 another termination 5V voltages, TIL117C No. 2 pins connect the P1.0 mouths of single-chip microcomputer, chip RS485 No. 8 pipes
Pin connects 5V voltages, and chip RS485 connects No. 5 pin ground connection.
As the further scheme of the present invention, the single chip circuit 3 can be using following design：Single chip circuit 3 is wrapped
Include reset circuit and clock circuit, including resistance R1, resistance R2, electric capacity C1, electric capacity C2, electric capacity C3, reset switch SB1,
Crystal oscillator Y1, single-chip microcomputer（C51 series monolithics can be used, can be specifically P89061X2 or AT89C2051）；Wherein reset
Circuit is RST9 the pin connecting resistance R1 and resistance R2 of single-chip microcomputer one end, while electric capacity C3 positive terminal is connect, resistance R1's
The other end is grounded, resistance R2 another termination reset switch SB1 one end and 5V voltages, and electric capacity C3 negative pole termination reset is opened
The other end of pass；Crystal oscillating circuit is that the XTAL1 of single-chip microcomputer connects crystal oscillator Y1 and electric capacity C1 one end, and the XTAL2 of single-chip microcomputer connects crystal oscillator
The other end and electric capacity C2 one end, the electric capacity C1 other end and the electric capacity C2 other end connect and be grounded, while single-chip microcomputer
VSS connecting resistances R18 one end, resistance R18DE other ends ground connection, VCC connects connecting resistance R17 one end, the resistance R17 other end
Connect 5V voltage.
As the further scheme of the present invention, the sound light alarming circuit 4 can be using following design：Sound light alarming circuit
4 include resistance R3, resistance R4, resistance R5, light emitting diode is red, light emitting diode is green, triode Q1, buzzer；Wherein buzzing
A terminating resistor R3, resistance R4 one end and the 5V voltages of device, the red positive pole of resistance R3 other end sending and receiving optical diode, light
The red negative pole of diode connects the P1.1 mouths of single-chip microcomputer, the green positive pole of resistance R4 other end sending and receiving optical diode, light emitting diode
Green negative pole connects the P1.2 mouths of single-chip microcomputer, the colelctor electrode of another termination triode of buzzer, the grounded emitter of triode, three
The base stage connecting resistance R5 of pole pipe one end, the resistance R5 other end connects the P1.3 mouths of single-chip microcomputer.
As the further scheme of the present invention, the stepper motor driving circuit 5 of the height regulation and the step of height regulation
Stepper motor group 6 can be using following design：The stepper motor 6 that highly stepper motor driving circuit 5 of regulation and height are adjusted
Including chip ULN2803a, chip ULN2803c, stepper motor M1, stepper motor M2, stepper motor M5, stepper motor M6；Its
Middle ULN2803a pin IN1-IN8 meets the P0.0-P0.7 of single-chip microcomputer, and chip ULN2803a pin OUT1-OUT4 connects respectively
Stepper motor M5 b, c, d, f interface, chip ULN2803a pin OUT5-OUT8 meets stepper motor M6 b, c, d, f respectively
Interface, stepper motor M5, M6 a interfaces connect 5V voltages, chip ULN2803a No. 9 pins ground connection, chip ULN2803a VCC
Connect 5V voltages；ULN2803c pin IN1-IN8 meets the P2.0-P2.7 of single-chip microcomputer, chip ULN2803c pin OUT1-OUT4
Connect stepper motor M7 b, c, d, f interface respectively, chip ULN2803c pin OUT5-OUT8 connect respectively stepper motor M8 b,
C, d, f interface, stepper motor M7, M8 a interfaces connect 5V voltages, chip ULN2803c No. 9 pins ground connection, chip ULN2803c
VCC connect 5V voltages.
As the further scheme of the present invention, the stepper motor driving circuit 7 of the propulsion and the stepper motor 8 promoted
Can be using following design：The stepper motor driving circuit 7 of propulsion and the stepper motor 8 promoted include chip ULN2803b,
Chip ULN2803d, stepper motor M3, stepper motor M4, stepper motor M7, stepper motor M8；Wherein ULN2803b pin
IN1-IN8 meets the P0.0-P0.7 of single-chip microcomputer, chip ULN2803b pin OUT1-OUT4 connect respectively stepper motor M3 b, c,
D, f interface, chip ULN2803b pin OUT5-OUT8 connect stepper motor M4 b, c, d, f interface respectively, stepper motor M3,
M4 a interfaces connect 5V voltages, and chip ULN2803b No. 9 pins ground connection, chip ULN2803b VCC connects 5V voltages；
ULN2803d pin IN1-IN8 meets the P2.0-P2.7 of single-chip microcomputer, and chip ULN2803d pin OUT1-OUT4 connects step respectively
Stepper motor M7 b, c, d, f interface, b, c, d, f that chip ULN2803d pin OUT5-OUT8 meets stepper motor M8 respectively connects
Mouthful, stepper motor M7, M8 a interfaces connect 5V voltages, and chip ULN2803d No. 9 pins ground connection, chip ULN2803d VCC connects
5V voltages.
Such as Fig. 8-10, the lower end of the fixing axle 14 in tyre in motion 15 can be used to set when mobile device of the invention is designed
The stepper motor 13 of propulsion is put, the upper end of fixing axle 14 is connected with turbine push rod 12, turbine push rod 12 is connected with casing 16 again,
Turbine push rod 12 is connected provided with the highly stepper motor 11 of regulation and with the stepper motor 11 of height regulation, its casing 16
Bottom sets obliquity sensor 10, in practical application, the stepper motor 8,4 that the composition of stepper motor 13 of 4 propulsions is promoted
The stepper motor 6 of the composition height regulation of stepper motor 11 of individual height regulation.
The present invention operation principle be：
The angular surveying circuit 1 is used to measure the inclination angle of pushing device, when device in progradation run-off the straight or on
When descending, obliquity sensor can measure the angle of inclination of device, and tilt signals are by RS485 serial communication by number
According to SCM system is reached, SCM system is connected to the stepper motor driving circuit 5 of height regulation and the stepping of height regulation
Group of motors 6, thus reaches the purpose of balance propulsion plant, while SCM system is also connected with the driving stepper motor electricity promoted
Road 7 and stepper motor, thus propulsion plant advance.SCM system is also connected with sound light alarming circuit 4, can reflect inclination angle
Situation.
Obliquity sensor Y2 measures the angle of inclination of platform in Fig. 3, and signal is reached into monolithic by two interfaces of A, B
Machine, single-chip microcomputer is performed accordingly further according to feedback data, such as the startup of the stepper motor of height regulation and sound and light alarm
Whether circuit starts, and main work process is as follows, and obliquity sensor 10 is received after dip angle signal, by physical analogy signal
D4 commutation diodes and D5 commutation diodes are transmitted separately to by A, B interface, the biography respectively that signal just can relatively be stablized passes through electricity
R15 and resistance R16 is hindered, in order to protect chip RS485, signal reaches chip RS485 B mouths and A mouthfuls by R15 and R16 respectively,
Before two interfaces and a resistance protection chip is connect, in order to which voltage stabilizing connects a resistance connecing at 5V voltages and ground connection, as upper
Pull-up resistor and pull down resistor, chip RS485 No. 8 pins directly connect 5V voltages, and No. 5 pins are directly grounded, and chip RS485 will believe
Photoelectric coupled circuit TIL117A No. 2 pins number are reached, while No. 1 pin connects pull-up resistor to form a loop, light-emitting diodes
After pipe triggering is luminous, opto-electronic receiver triode is received and triggered after optical signal, and signal reaches the P3.0 mouths of single-chip microcomputer, in order to protect
Single-chip microcomputer, a pull-up resistor is connect in 5V voltages and interface, and for feedback signal, the P3.1 of single-chip microcomputer connects photoelectric coupled circuit
TIL117B No. 2 pins, No. 1 pin connects one loop of 5V voltages formation, in order to which protection circuit goes out to connect a pull-up in 5V voltages
Resistance, if P3.1 obtains signal, the circuit turn-on, photelectric receiver is transmitted to core after receiving signal by No. 3 pins
Piece RS485 No. 1 pin, in order to protect chip RS485, the interface for meeting voltage 5V in No. 1 pin connects a pull-up resistor, core
Piece RS485 is grounded；The P1.0 of single-chip microcomputer connects photoelectric coupled circuit TIL117C No. 2 pins, and No. 1 pin connects 5V voltages formation one and returned
Road, in order to which protection circuit goes out to connect a pull-up resistor, if P1.0 obtains signal, the circuit turn-on, photoelectricity in 5V voltages
Receiver is transmitted to No. 2 of chip RS485 and No. 3 pins after receiving signal by No. 4 pins, for protection circuit, in No. 4 pipes
The interface of pin ground connection connects a pull down resistor, and chip RS485 ground connection, photoelectric coupled circuit TIL117C No. 3 pins connect 5V voltages.
After single-chip microcomputer obtains these dip angle signals, drive signal is sent to stepper motor driving circuit and sound and light alarm electricity by single-chip microcomputer
Road carries out early warning, and the P0 mouths of single-chip microcomputer are the drivings to stepper motor driving circuit ULN2803, because mobile device has four
Position, therefore select 2 ULN2803 to drive this four stepper motors (M1, M2, M5, M6), can in order that obtaining stepper motor
Rise, the purpose moved up and down that the mechanical structure i.e. mode of screw rod reaches mobile device is devised, while driving stepper motor
Circuit also drives four additional stepper motor simultaneously（M3、M4、M7、M8）As the power set of mobile device, in mobile device
While mobile, stepper motor also provides extra power.
Specific operation principle：Mobile device is in moving process, when being moved to the gradient or inclined road surface,
Mobile device can produce certain angle of inclination, and the inclination angle below mobile device can go out this angle of bank measurement
Come, afterwards reach inclined data in single-chip microcomputer, after internal program judges, judge whether to may be such that platform and level one
Cause, if angle be not it is the same if send out a warning and have a buzzer, if given a green light if the same, by the height for adjusting platform
Degree, the stepper motor of corresponding tilt angle starts action, is risen platform by worm screw, now obliquity sensor measures shifting in real time
The angle of inclination of dynamic device, when lamp becomes green light, mobile platform reaches level.The stepping that now MCU driving is promoted
Motor is operated so that platform can be moved more labour-saving.
The specific embodiment of the present invention is explained in detail above in conjunction with accompanying drawing, but the present invention is not limited to above-mentioned reality
Example is applied, can also be on the premise of present inventive concept not be departed from the knowledge that those of ordinary skill in the art possess
Various changes can be made.
Claims (7)
1. a kind of real-time embedded adaptive pushing device, it is characterised in that：Including angular surveying circuit（1）, serial communication
Circuit（2）, single chip circuit（3）, sound light alarming circuit（4）, height regulation stepper motor driving circuit（5）, height adjust
Stepper motor（6）, promote stepper motor driving circuit（7）, promote stepper motor（8）, power supply（9）；
The angular surveying circuit（1）Inclination angle and and serial communication circuit for measuring pushing device（2）Connection, serial communication
Circuit（2）With single chip circuit（3）Connection, single chip circuit（3）Respectively with sound light alarming circuit（4）, height regulation stepping
Motor-drive circuit（5）, promote stepper motor driving circuit（7）Connection, the stepper motor driving circuit of height regulation（5）With
The stepper motor highly adjusted（6）Connection, the stepper motor driving circuit of propulsion（7）With the stepper motor of propulsion（8）Even
Connect, power supply（9）Circuit respectively with angular surveying circuit（1）, serial communication circuit（2）, single chip circuit（3）, height regulation
Stepper motor driving circuit（5）, promote stepper motor driving circuit（7）It is connected.
2. real-time embedded adaptive pushing device according to claim 1, it is characterised in that：The angular surveying electricity
Road（1）Including resistance R12, resistance R13, resistance R14, resistance R15, resistance R16, diode D4, diode D5, obliquity sensor
Y2；Wherein obliquity sensor Y2 A ends are connected with diode D4 anode, while be connected with resistance R15 one end, inclination angle sensing
Device Y2 B ends are connected with diode D5 anode, while be connected with resistance R16 one end, diode D4 negative electrode and diode
D5 negative electrode is connected, and the resistance R15 other end is connected with resistance R12, resistance R13 one end, while connecing serial communication circuit（2）
In chip RS485 No. 7 pins, resistance R12 a terminating resistor R15, resistance R13 and chip RS485 No. 7 pins, electricity
Hinder R13 a terminating resistor R15, resistance R12 and chip RS485 No. 7 pins, another termination 5V voltages, resistance of resistance R12
The R16 other end is connected with the resistance R13 other end and resistance R14 one end, while connecing chip RS485 No. 6 pins, resistance
R13 another terminating resistor R14, resistance R16 and chip RS485 No. 6 pins, a resistance R14 terminating resistor R13 other ends
And resistance R16 and chip RS485 No. 6 pins, resistance R14 other end ground connection.
3. real-time embedded adaptive pushing device according to claim 1, it is characterised in that：The serial communication electricity
Road（2）Including chip RS485, resistance R6, resistance R7, resistance R8, resistance R9, resistance R10, resistance R11, respectively by triode and
Photoelectric coupled circuit TIL117A, photoelectric coupled circuit TIL117B, the photoelectric coupled circuit TIL117C of photodiode composition；In TIL117 optocouplers
In circuit, just extremely No. 1 pin of photodiode, the negative pole of photodiode is No. 2 pins, the transmitting extremely 4 of triode
Number pin, extremely No. 5 pins of current collection of triode：Its chips RS485 No. 4 pins connect TIL117A No. 2 pins,
TIL117A No. 1 pin connecting resistance R7 one end, resistance R7 another termination 5V voltages, TIL117A No. 4 pins ground connection,
TIL117A No. 5 pin connecting resistance R6 one end and the P3.0 mouths of single-chip microcomputer, resistance R6 another termination 5V, chip RS485's
No. 1 pin connects TIL117B No. 3 pins and resistance R9 one end, and resistance R9 another termination 5V, TIL117B No. 4 pins connect
Ground, TIL117B No. 2 pins connect the P3.1 mouths of single-chip microcomputer, TIL117B No. 1 pin connecting resistance R8 one end, and resistance R8's is another
One termination 5V, No. 2 of chip RS485, No. 3 pins connect P1.0 mouths of single-chip microcomputer and resistance R11 one end, No. 4 of TIL117C manage
Pin, resistance R11 other end ground connection, TIL117C No. 3 pins connect 5V voltages, the one of TIL117C No. 1 pin connecting resistance R10
End, resistance R10 another termination 5V voltages, TIL117C No. 2 pins connect the P1.0 mouths of single-chip microcomputer, chip RS485 No. 8 pipes
Pin connects 5V voltages, and chip RS485 connects No. 5 pin ground connection.
4. real-time embedded adaptive pushing device according to claim 1, it is characterised in that：The single chip circuit
（3）Including reset circuit and clock circuit, including resistance R1, resistance R2, electric capacity C1, electric capacity C2, electric capacity C3, reset switch
SB1, crystal oscillator Y1, single-chip microcomputer；Wherein reset circuit is RST9 the pin connecting resistance R1 and resistance R2 of single-chip microcomputer one end, simultaneously
Connect electric capacity C3 positive terminal, resistance R1 other end ground connection, resistance R2 another termination reset switch SB1 one end and 5V electricity
Pressure, electric capacity C3 negative pole terminates the other end of reset switch；Crystal oscillating circuit is that the XTAL1 of single-chip microcomputer meets crystal oscillator Y1 and electric capacity C1
One end, the XTAL2 of single-chip microcomputer connects the other end of crystal oscillator and electric capacity C2 one end, the electric capacity C1 other end and the electric capacity C2 other end
Connect and be grounded, while the VSS connecting resistances R18 of single-chip microcomputer one end, resistance R18DE other ends ground connection, VCC meets connecting resistance R17
One end, resistance R17 another termination 5V voltage.
5. real-time embedded adaptive pushing device according to claim 1, it is characterised in that：The sound and light alarm electricity
Road（4）Including resistance R3, resistance R4, resistance R5, light emitting diode is red, light emitting diode is green, triode Q1, buzzer；Wherein
A terminating resistor R3, resistance R4 one end and the 5V voltages of buzzer, the red positive pole of resistance R3 other end sending and receiving optical diode,
The red negative pole of light emitting diode connects the P1.1 mouths of single-chip microcomputer, the green positive pole of resistance R4 other end sending and receiving optical diode, lights two
The green negative pole of pole pipe connects the P1.2 mouths of single-chip microcomputer, and the colelctor electrode of another termination triode of buzzer, the emitter stage of triode connects
Ground, the base stage connecting resistance R5 of triode one end, the resistance R5 other end connects the P1.3 mouths of single-chip microcomputer.
6. real-time embedded adaptive pushing device according to claim 1, it is characterised in that：The height regulation
Stepper motor driving circuit（5）And the stepper motor of height regulation（6）Including chip ULN2803a, chip ULN2803c, step
Stepper motor M1, stepper motor M2, stepper motor M5, stepper motor M6；Wherein ULN2803a pin IN1-IN8 connects single-chip microcomputer
P0.0-P0.7, chip ULN2803a pin OUT1-OUT4 connect stepper motor M5 b, c, d, f interface, chip respectively
ULN2803a pin OUT5-OUT8 connects stepper motor M6 b, c, d, f interface respectively, and stepper motor M5, M6 a interfaces meet 5V
Voltage, chip ULN2803a No. 9 pins ground connection, chip ULN2803a VCC connects 5V voltages；ULN2803c pin IN1-
IN8 meets the P2.0-P2.7 of single-chip microcomputer, and b, c, d, f that chip ULN2803c pin OUT1-OUT4 meets stepper motor M7 respectively connect
Mouthful, chip ULN2803c pin OUT5-OUT8 connects stepper motor M8 b, c, d, f interface, stepper motor M7, M8 a respectively
Interface connects 5V voltages, and chip ULN2803c No. 9 pins ground connection, chip ULN2803c VCC connects 5V voltages.
7. real-time embedded adaptive pushing device according to claim 1, it is characterised in that：The stepping of the propulsion
Motor-drive circuit（7）And the stepper motor promoted（8）Including chip ULN2803b, chip ULN2803d, stepper motor M3,
Stepper motor M4, stepper motor M7, stepper motor M8；Wherein ULN2803b pin IN1-IN8 meets the P0.0- of single-chip microcomputer
P0.7, chip ULN2803b pin OUT1-OUT4 connect stepper motor M3 b, c, d, f interface respectively, chip ULN2803b's
Pin OUT5-OUT8 connects stepper motor M4 b, c, d, f interface respectively, and stepper motor M3, M4 a interfaces connect 5V voltages, chip
ULN2803b No. 9 pins ground connection, chip ULN2803b VCC connects 5V voltages；ULN2803d pin IN1-IN8 connects single-chip microcomputer
P2.0-P2.7, chip ULN2803d pin OUT1-OUT4 connects stepper motor M7 b, c, d, f interface, chip respectively
ULN2803d pin OUT5-OUT8 connects stepper motor M8 b, c, d, f interface respectively, and stepper motor M7, M8 a interfaces meet 5V
Voltage, chip ULN2803d No. 9 pins ground connection, chip ULN2803d VCC connects 5V voltages.
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| CN201710303713.9A CN107102585A (en) | 2017-05-03 | 2017-05-03 | A kind of real-time embedded adaptive pushing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189731A (en) * | 2018-01-15 | 2018-06-22 | 昆明理工大学 | One kind is based on Embedded dumper device |
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Application publication date: 20170829 |