CN108073177A - A kind of control system imparted knowledge to students with contest with spray robot - Google Patents
A kind of control system imparted knowledge to students with contest with spray robot Download PDFInfo
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- CN108073177A CN108073177A CN201810163313.7A CN201810163313A CN108073177A CN 108073177 A CN108073177 A CN 108073177A CN 201810163313 A CN201810163313 A CN 201810163313A CN 108073177 A CN108073177 A CN 108073177A
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- 239000007921 spray Substances 0.000 title claims abstract description 89
- 238000005507 spraying Methods 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000002347 injection Methods 0.000 claims abstract description 9
- 239000007924 injection Substances 0.000 claims abstract description 9
- 239000000575 pesticide Substances 0.000 claims abstract description 9
- 230000005693 optoelectronics Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 6
- 239000003814 drug Substances 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 229940079593 drug Drugs 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 238000012772 sequence design Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Spray Control Apparatus (AREA)
Abstract
The present invention relates to a kind of control systems imparted knowledge to students with contest with spray robot, and including main control module, the main control module is connected respectively with tracking module, injection target detection module, plane positioning module, spraying control module, travelling control module.The spraying control module includes multiple solenoid valves, multiple electromagnetic relays and left and right telescoping mechanism；The solenoid valve is corresponded with nozzle, and the main control module controls corresponding solenoid valve to control the flow of corresponding nozzle by corresponding electromagnetic relay；The main control module controls the start and stop of booster pump in pesticide spraying system by corresponding electromagnetic relay；The main control module controls the left and right of the left and right telescoping mechanism to stretch by corresponding electromagnetic relay, and the nozzle is arranged on by spraying plate on the left and right telescoping mechanism.The present invention be suitble to teaching application, student can quick left-hand seat, driving spray robot complete setting task, it is at low cost, it is highly practical.
Description
Technical field
The invention belongs to impart knowledge to students with spray robotic technology field, and in particular to a kind of teaching and contest spray robot
Control system.
Background technology
Spray robot project is a sub-project of China services robot contest.Competition area, referring to Fig. 1.Than
During match, robot is autonomous to complete spray, it is impossible to be remotely-controlled by A areas, B areas, C areas, D areas from origin zone.Wherein,
A areas are to spray to target, and B areas are fixed tree-like spray, it is desirable that tree-like outside cannot be sprayed on during spray, C areas are for the different age of trees
Tree sprays, each tree-like different parts has different spray requirements, and D areas are to deforming tree-like spray.In A areas, B areas
On heart line, there is robot ambulation guide line（White matt paper slip）, in spray drug operation place A1, A2, A3, B2, B3, B4, C2,
C3, C4 and D1, D2 have spray place indication wire（White matt paper slip）.
According to laws of the game, during the games, robot needs can identify racing track guide wire, in the part of no guide wire
Section can independently complete location tasks, and complete spray task.To complete match task, in addition to mechanical mechanism designs,
Will also be according to the match good control system of task design, otherwise, robot can not independently complete task.
The experimental facilities of current experimental facilities, especially higher education, it is less for the experimental facilities of contest link exploitation,
Just start the student to enter the lists, proximate nutrition obscures, it is therefore necessary to develop relevant spray robot, take in competition to student into
Row guiding.
The content of the invention
In order to solve above-mentioned technical problem, the present invention devises a kind of control imparted knowledge to students with contest spray robot
System processed is, it can be achieved that robot tracking, plane positioning, nozzle stretch, fixed point sprays, precisely spray, variable spray.
In order to solve above-mentioned technical problem, present invention employs following scheme：
It is a kind of impart knowledge to students and contest with spray robot control system, including main control module, the main control module respectively with tracking
Module, injection target detection module, plane positioning module, spraying control module, the connection of travelling control module.
Further, the spraying control module includes multiple solenoid valves, multiple electromagnetic relays and left and right telescoping mechanism；Institute
It states solenoid valve to connect one to one with nozzle, the main control module controls corresponding solenoid valve by corresponding electromagnetic relay
To control the flow of corresponding nozzle；The main control module controls booster pump in pesticide spraying system by corresponding electromagnetic relay
Start and stop；The main control module controls the left and right of the left and right telescoping mechanism to stretch by corresponding electromagnetic relay, described
Nozzle is arranged on by spraying plate on the left and right telescoping mechanism.
Further, the left and right telescoping mechanism includes a pair of electric pushrod being symmetrical set, the electric pushrod
Telescopic end is connected with corresponding spray plate；The electric current that the two poles of the electric pushrod are connected to corresponding electromagnetic relay is defeated
Outlet, the electromagnetic relay signal control terminal are connected to the corresponding pin of the main control module.
Further, the electric pushrod is mounted on by corresponding installing plate and support plate on the chassis, the electricity
The dynamic other end and corresponding installing plate top of the push rod away from telescopic end are connected, and simultaneously /V is corresponding for the support plate apical support
The cylinder body of electric pushrod.
Further, the installing plate is L shaped plate structure, and the transverse slat of L shaped plate structure is connected with robot chassis, L shaped plate knot
The riser top of structure is connected with corresponding electric pushrod；The solenoid valve is arranged on the riser lower part of L shaped plate structure.
Further, the support plate is L shaped plate structure, and the transverse slat of the L shaped plate structure is connected with robot chassis, the L-shaped
The riser top of harden structure is provided with semicircular arc groove.
Further, the tracking module includes preceding tracking module, rear tracking module, left tracking module and right tracking module；
The preceding tracking module and the rear tracking module include seven sets of tracking sensors respectively；The left tracking module and the right side are followed
Mark module includes a set of tracking sensor respectively.
Further, the tracking sensor uses gray-scale sensor.
Further, the injection target detection module includes being arranged on the optoelectronic switch at left and right sides of robot chassis.
Further, the travelling control module includes four wheels being arranged under robot chassis, each wheel difference
It is driven by corresponding motor and motor driver, each motor driver is connected to the corresponding pin of the main control module.
Further, the wheel electrical machine is direct current generator.
Further, the main control chip of the main control module is microcontroller.
During work, the main control module sends motor control signal to each motor driver, and each motor is driven to rotate forward
Or reversion, realize the basic exercises action such as advance, retrogressing, left-hand rotation, right-hand rotation, stopping of spray robot；The main control module root
According to the different detection signals of each tracking module, judge the walking orientation of spray robot, constantly correct, make robot according to journey
The flow of sequence design follows walking guide line walking；Do not walk guide line when, the main control module can call the plane
Locating module completes navigation；The spray target signal that the main control module is detected according to left-right photo switch, spray is performed by program
Action；The main control module can drive electromagnetic relay to act, and so as to connect electric pushrod power supply, push rod be made to stretch.
The teaching and contest are had the advantages that with the control system of spray robot：
（1）The present invention can be in the match scene of setting, and according to laws of the game, automatic identification walking guide line is not guiding
The part way of line independently completes task, completes fixed point spray task.
（2）The present invention be suitble to teaching application, student can quick left-hand seat, driving spray robot complete setting task, into
This is low, highly practical.
（3）In the present invention, nozzle is scalable, can not only realize fixed point precisely spray, but also the robot can be made not spray
When it is compact-sized, floor space is small.Moreover, in the present invention, each nozzle individually controls, and is vertically arranged, and operation is flexible, spray regime
Extensively, unnecessary waste can be avoided.
Description of the drawings
Fig. 1：Competition venue schematic diagram in the present invention；
Fig. 2：The modular construction schematic diagram of teaching and contest spray robot control system in embodiment of the present invention；
Fig. 3：The structure diagram of pesticide spraying system in embodiment of the present invention；
Fig. 4：Layout structure schematic diagram in chassis in embodiment of the present invention；
Fig. 5：Master control program flow chart in embodiment of the present invention；
Fig. 6：Front and rear tracking program flow diagram in embodiment of the present invention；
Fig. 7：Plane positioning modular program flow chart in embodiment of the present invention；
Fig. 8：Pesticide spraying system program flow diagram in embodiment of the present invention.
Reference sign：
1-main control module；2-tracking module；21-left tracking module；22-preceding tracking module；23-right tracking module；24—
Tracking module afterwards；3-plane positioning module；4-injection target detection module；41-left optoelectronic switch；42-right optoelectronic switch；
5-pesticide spraying system；51-spraying control module；511-solenoid valve；512-electromagnetic relay；513-electric pushrod；52—
Booster pump；53-medicine-chest；54-nozzle；55-spray plate；56-installing plate；57-support plate；58-nozzle connector；6-row
Walk control module；61-motor；62-motor driver；63-wheel；7-chassis.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention will be further described：
Fig. 2 to Fig. 8 shows a kind of embodiment of the control system of present invention teaching and contest spray robot.Fig. 2 is
The modular construction schematic diagram of teaching and contest spray robot control system in present embodiment.
As shown in Fig. 2, teaching and contest spray robot control system in present embodiment, including main control module 1,
Main control module 1 is controlled respectively with tracking module 2, injection target detection module 4, plane positioning module 3, spraying control module 5, walking
Molding block 6 connects.
As shown in Figures 2 and 3, Fig. 3 is the structure diagram of pesticide spraying system in present embodiment, and spraying control module 51 is wrapped
Include multiple solenoid valves 511, multiple electromagnetic relays 512 and left and right telescoping mechanism；Solenoid valve 511 is corresponded with nozzle 54 to be connected
It connects, main control module 1 controls corresponding solenoid valve 511 to control corresponding nozzle 54 by corresponding electromagnetic relay 512
Flow；Main control module 1 controls the start and stop of booster pump 52 in pesticide spraying system 5 by corresponding electromagnetic relay 512；Main control module
1 controls the left and right of left and right telescoping mechanism to stretch by corresponding electromagnetic relay 512, and nozzle 54 is arranged on a left side by spraying plate 55
On right telescoping mechanism.
Preferably, left and right telescoping mechanism includes a pair of electric pushrod 513 being symmetrical set, and electric pushrod 513 is stretched
Contracting end is connected with corresponding spray plate 55；The two poles of electric pushrod 513 are connected to the electric current of corresponding electromagnetic relay 512
Output terminal, 512 signal control terminal of electromagnetic relay are connected to 1 corresponding pin of main control module.
As shown in figure 3, electric pushrod 513 is mounted on the chassis of robot by corresponding installing plate 56 and support plate 57
On 7, the other end and corresponding installing plate 56 top of the electric pushrod 513 away from telescopic end are connected, 57 apical support of support plate
And the cylinder body of the corresponding electric pushrod 513 of /V.
In the present embodiment, installing plate 56 is L shaped plate structure, and the transverse slat of L shaped plate structure is connected with chassis 7, L shaped plate structure
Riser top is connected with corresponding electric pushrod 513；Solenoid valve 511 is arranged on the riser lower part of L shaped plate structure.
In the present embodiment, support plate 57 is L shaped plate structure, and the transverse slat of the L shaped plate structure is connected with chassis 7, the L shaped plate knot
The riser top of structure is provided with semicircular arc groove with before and after limiting electric pushrod 513, freely up and down spend.
In present embodiment, pesticide spraying system further includes booster pump 52 and medicine-chest 53, and each nozzle passes through corresponding water respectively
Pipe, solenoid valve 511 are connected with the water outlet of booster pump 52, and the water inlet of booster pump 52 is connected with the water outlet of medicine-chest 53；Each electricity
The two poles of magnet valve 511 are connected to the current output terminal of corresponding electromagnetic relay 512, the two poles connection of booster pump 52
To the current output terminal of corresponding electromagnetic relay 512,512 signal control terminal of electromagnetic relay is connected to master control by signal wire
On 1 corresponding pin of module.
Multiple nozzles 54 are divided to for two groups, and two groups of nozzles 54 are symmetrical to be distributed on respectively on corresponding spray plate 55.This
In embodiment, vertical array is arranged on corresponding spray plate 55 two groups of nozzles 54 respectively, and nozzle 54 passes through corresponding nozzle
Connector 58 and corresponding spray plate 55 connect.Spray plate 55 is provided with connection boss, with the electric pushrod with left and right telescoping mechanism
513 connections.In the present embodiment, the body of spray plate 55 is a Rectangular Plate Structure, and connection boss is arranged on the middle part of Rectangular Plate Structure,
It so can guarantee the stability of spray robot.
As shown in Figure 2 and Figure 4, Fig. 4 is layout structure schematic diagram in chassis in present embodiment, and tracking module 2 is followed including a left side
Mark module 21, preceding tracking module 22, right tracking module 23 and rear tracking module 24.Preceding tracking module 22 and rear tracking module 24 are divided
It Bao Kuo not seven sets of tracking sensors；Left tracking module 21 and right tracking module 23 include a set of tracking sensor respectively.This implementation
In example, tracking sensor uses gray-scale sensor.Preceding tracking module 22, rear tracking module 24, left tracking module 21 and right tracking
Module 23 can detect the walking guide line of spray robot, and main control module 1 is according to preceding tracking module 22, rear tracking module
24th, the different detection signals of left tracking module 21 and right tracking module 23, judge the walking orientation of spray robot, constantly rectify
Just, enable robot by the flow of programming, follow guide line walking.When running into the right side（It is or left）It is right when turning right angle white line（Or
It is left）Side tracking sensor is swept to first, then triggers external interrupt 0, control robot turns right（Or turn left）About 90 degree.
As shown in Figure 2, Figure 3 and Figure 4, the left photoelectricity that injection target detection module 4 includes being arranged at left and right sides of chassis 7 is opened
Close 41 and right optoelectronic switch 42.Left optoelectronic switch 41 and right optoelectronic switch 42, can detect front obstacle, and detecting distance can be with
By left optoelectronic switch 41, the adjusting circuit configuration of right optoelectronic switch 42.In robot sprays tasks make progress, such as Fig. 1 institutes
Showing, robot does not have spray drug operation to prompt point in B areas, so, robot needs judge whether to reach predetermined in this course
Whether place detects barrier by left optoelectronic switch 41 and right optoelectronic switch 42（Spray target）To differentiate.Main control module 1 is connecing
It receives left optoelectronic switch 41 or right optoelectronic switch 42 detects front obstacle（Spray target）Signal after, control robot stop row
It walks, and drives left and right telescoping mechanism, electric pushrod 513 stretches out, and spray plate 55 is made to be moved to predetermined distance, then performs spray and appoints
Business.
As shown in Figure 2 and Figure 4, travelling control module 6 includes four wheels 63 being arranged under robot chassis 7, each
Wheel 63 is driven respectively by corresponding motor 61 and motor driver 62, and each motor driver 62 is connected to 1 phase of main control module
Corresponding pin.
In the present embodiment, motor 61 is direct current generator.Each motor 61 needs 3 control signals EN1, IN1, IN2,
EN1 is enable signal, selects PWM connections EN1 pins all the way, adjusts the duty cycle of PWM, can adjust the rotating speed of motor 61, is led to
Cross the control of two digits signal IN1, IN2, you can control 61 forward and backward of motor.In the present embodiment, two electrodes of motor 61
IN1, IN2 are direction of motor rotation control signals, and when being respectively 1,0, motor rotates forward, conversely, motor reversal.Therefore, master control mould
Block 1 sends motor control signal to corresponding motor driver 62, can control rotating forward, reversion and the speed of corresponding motor 61
It adjusts, realizes the basic exercises actions such as advance, retrogressing, left-hand rotation, right-hand rotation, speed adjusting and the stopping of spray robot.
In present embodiment, the main control chip of main control module 1 is microcontroller, 1 corresponding I/O port of main control module respectively with
Tracking module, injection target detection module, plane positioning module, spraying control module, the connection of travelling control module.Plane positioning
Module passes the position data of robot back in real time, by compared with the numerical value that microcontroller is set, judging order, realizes
Positioning.
In the present embodiment, chassis 7 is made of aluminium sheet, and the body on chassis 7 is the harden structure of Rectangular Plate Structure or approximate ellipse.
Spray machine people participates in the sub-project of Chinese robot contest, the arena of the spray robot compulsory exercise
Ground, as shown in Figure 1, ground is green carpet, long 4000mm, wide 3300mm.The guide line of robot ambulation is put for width 24mm
Enter white matt paper slip（Double faced adhesive tape）, dotted line guide line is not present in play.In match, robot needs to complete spray times
Business.According to laws of the game, during the games, robot needs can identify starting line, stop line and racing track guide line, not have
The part way of guide wire can independently complete task.Robot is from origin zone, by A areas, B areas, C areas, D areas, respectively into
Row becomes tree-like spray to target spray, fixed tree-like spray.Wherein, the target of spray simulates the spray target such as tree-like, is printed upon A
3 paper（297mm×420mm）On.Wherein, there is guide line in A, B area, and there is operating location indication wire in A, C, D area.The match of spray robot
It in, is distinguished by the difficulty of spray, is followed successively by A areas, B areas, C areas, D areas, games results are calculated with fraction height.
Referring to Fig. 1, since match uses bottle green carpet, white tape line is posted on carpet, tracking module uses gray scale
Sensor, the transmitting tube of gray-scale sensor, transmitting light run into white background and are reflected, the reception pipe of gray-scale sensor connects to road surface
Reflected light is received, after Schmidt trigger shaping, exports low level；It when light runs into bottle green carpet, is then absorbed, is received
Pipe is not received by reflected light, after Schmidt trigger shaping, exports high level.Seven road tracking sensings are set in trolley forepart
Device, arranged on left and right sides respectively set tracking sensor all the way, and afterbody sets seven road tracking sensors.The white glue band on ground is detected, makes master
It controls 1 corresponding I/O pin of module and generates associated level variation, so as to learn trolley travelling direction and the relation of white path line.Before
The label of Fang Qilu tracking sensors is from left to right L1, L2, L3, M1, R3, R2, R1 respectively；Seven road tracking sensor of rear
Label, be from left to right L4, L5, L6, M2, R6, R5, R4 respectively.Forward and backward tracking flow, as shown in Figure 6.When tracking senses
After device detects white wire, low level signal can be returned to main control module 1.When M1 detects white line, if M2 is also detected that
White line, then robot straight trip；If M1 detects white line, white line is not detected in M2, then judges robot according to rear tracking module
Action, L4, L5, L6 detect white line, can move right trolley, and R4, R5, R6 detect white line, can make trolley to left movement；
If white line is not detected in M1, the action of robot is judged according to preceding tracking module, L1, L2, L3 detect white line, can make small
Vehicle detects white line to left movement, R1, R2, R3, can move right trolley.It is always positioned at so as to fulfill white line in dolly chassis
Axial location.
The flow chart of plane positioning module, referring to Fig. 7.Plane positioning module can real-time returned data, including robot
Plan-position x, y-coordinate and angle, by compared with the numerical value of program setting, judging order, if x, y, angle value
It is different from setting value, then algorithm design is carried out, makes robot by advancing, retreating, progress position correction of turning, when the number passed back
When value is equal with setting value, robot stops, and then carries out the action of next step.
The flow chart of spray task, referring to Fig. 8.The tracking module 22 before receiving of main control module 1 detects spray drug operation
After prompting point, left optoelectronic switch 41 or right optoelectronic switch 42 detect the signal of front obstacle, main control module 1 is sent instructions to
Corresponding electromagnetic relay 512, the telescopic end of control electric pushrod 513 stretch out, and then main control module 1 is by controlling corresponding electricity
The break-make of magnetic relay, to control the keying of booster pump 52, main control module 1 controls spray by controlling corresponding solenoid valve 511
The flow of medicine.
The main control flow that spray machine is manually made, referring to Fig. 5.Robot main control module 1 and motor driver, each tracking
Sensor, direct current generator combine, and control the tracking of robot, positioning, spray.Robot is from starting point, using forward and backward tracking
Module makes robot successively by A1, A2, A3, and completes spray task.Then, using forward and backward tracking module and left and right photoelectricity
Switch is successively by B areas, and complete to spray.Due to after B5 points, place without guide line, so using plane positioning module come
Complete the spray task in C areas.
The present invention can be in the match scene of setting, and according to laws of the game, automatic identification walking guide line is not guiding
The part way of line independently completes task, completes fixed point spray task.
The present invention be suitble to teaching application, student can quick left-hand seat, driving spray robot complete setting task.
In the present invention, nozzle is scalable, can not only realize fixed point precisely spray, but also the robot can be made to be tied when not spraying
Structure is compact, floor space is small.Moreover, in the present invention, each nozzle individually controls, and is vertically arranged, and operation is flexible, and spray regime is wide,
It can avoid unnecessary waste.
Illustrative description is carried out to the present invention above in conjunction with attached drawing, it is clear that realization of the invention and from aforesaid way
Limitation, as long as employ the inventive concept and technical scheme of the present invention progress various improvement or not improved by the present invention
Design and technical solution directly apply to other occasions, within the scope of the present invention.
Claims (10)
1. a kind of control system imparted knowledge to students with contest with spray robot, which is characterized in that including main control module, the master control mould
Block is connected respectively with tracking module, injection target detection module, plane positioning module, spraying control module, travelling control module.
2. teaching according to claim 1 and the control system of contest spray robot, which is characterized in that the spray
Control module includes multiple solenoid valves, multiple electromagnetic relays and left and right telescoping mechanism；The solenoid valve is corresponded with nozzle
Connection, the main control module control corresponding solenoid valve to control the stream of corresponding nozzle by corresponding electromagnetic relay
Amount；The main control module controls the start and stop of booster pump in pesticide spraying system by corresponding electromagnetic relay；The main control module
The left and right for controlling the left and right telescoping mechanism by corresponding electromagnetic relay is stretched, and the nozzle is arranged on institute by spraying plate
It states on the telescoping mechanism of left and right.
3. teaching according to claim 2 and the control system of contest spray robot, which is characterized in that the left and right
Telescoping mechanism includes a pair of electric pushrod being symmetrical set, and the telescopic end of the electric pushrod connects with corresponding spray plate
It connects；The two poles of the electric pushrod are connected to the current output terminal of corresponding electromagnetic relay, the electromagnetic relay letter
Number control terminal is connected to the corresponding pin of the main control module.
4. teaching according to claim 3 and the control system of contest spray robot, which is characterized in that described electronic
Push rod is mounted on by corresponding installing plate and support plate on the chassis, the other end of the electric pushrod away from telescopic end
It is connected with corresponding installing plate top, the cylinder body of the support plate apical support and the corresponding electric pushrod of /V.
5. teaching according to claim 4 and the control system of contest spray robot, which is characterized in that the installation
Plate is L shaped plate structure, and the transverse slat of L shaped plate structure is connected with robot chassis, the riser top of L shaped plate structure with it is corresponding electronic
Push rod connects；The solenoid valve is arranged on the riser lower part of L shaped plate structure.
6. teaching according to claim 4 and the control system of contest spray robot, which is characterized in that the support
Plate is L shaped plate structure, and the transverse slat of the L shaped plate structure is connected with robot chassis, and the riser top of the L shaped plate structure is provided with half
Circular groove.
7. teaching according to any one of claims 1 to 6 and the control system of contest spray robot, which is characterized in that
The tracking module includes preceding tracking module, rear tracking module, left tracking module and right tracking module；The preceding tracking module and
Tracking module includes seven sets of tracking sensors respectively after described；The left tracking module and the right tracking module include one respectively
Cover tracking sensor.
8. teaching according to any one of claims 1 to 7 and the control system of contest spray robot, which is characterized in that
The injection target detection module includes being arranged on the optoelectronic switch at left and right sides of robot chassis.
9. teaching according to any one of claims 1 to 8 and the control system of contest spray robot, which is characterized in that
The travelling control module includes being arranged on four wheels under robot chassis, each wheel respectively by corresponding motor and
Motor driver drives, and each motor driver is connected to the corresponding pin of the main control module.
10. teaching according to any one of claims 1 to 9 and the control system of contest spray robot, which is characterized in that
The main control chip of the main control module is microcontroller.
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| CN109109024A (en) * | 2018-10-31 | 2019-01-01 | 西北农林科技大学 | A kind of orchard spray robot competition venue |
| CN109129573A (en) * | 2018-10-31 | 2019-01-04 | 西北农林科技大学 | A kind of view of water robot competition place |
| CN109156464A (en) * | 2018-11-13 | 2019-01-08 | 西北农林科技大学 | A kind of spray robot |
| CN109156463A (en) * | 2018-11-13 | 2019-01-08 | 西北农林科技大学 | A kind of control system and its control method automating chemical spraying mechanism |
| CN109566092A (en) * | 2019-01-24 | 2019-04-05 | 西北农林科技大学 | A kind of fruit harvest machine people's control system for contest |
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