CN108184804A - A kind of spray robot chassis structure - Google Patents
A kind of spray robot chassis structure Download PDFInfo
- Publication number
- CN108184804A CN108184804A CN201810163314.1A CN201810163314A CN108184804A CN 108184804 A CN108184804 A CN 108184804A CN 201810163314 A CN201810163314 A CN 201810163314A CN 108184804 A CN108184804 A CN 108184804A
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- China
- Prior art keywords
- spray
- chassis body
- chassis
- motor
- tracking module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Zoology (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Insects & Arthropods (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of spray robot chassis structures, which is characterized in that including chassis body and the wheel being symmetricly set at left and right sides of chassis body, each wheel independently drives；The forepart of the chassis body is provided with main control chip, and the rear portion of the chassis body is provided with plane positioning system；Preceding tracking module and rear tracking module are symmetrically provided in the middle part of the chassis body front center and rear end, the front end of the chassis body is symmetrically provided with left tracking module and right tracking module, and the left and right sides of the chassis body is also symmetrically provided with spray target detection module.Cost of the present invention is relatively low, is particularly suitable for teaching and contest, is easy to student's left-hand seat.
Description
Technical field
The invention belongs to robot used for teaching technical fields, and in particular to a kind of spray robot chassis structure.
Background technology
Orchard spray robot project is a sub-project of China services robot contest, and laws of the game are as follows：Place
For green carpet, around there is the wooden enclosure wall of integration of 20CM high.Robot competition area as shown in Figure 1, during the games,
Robot is autonomous to complete, to target spray, fixed tree-like spray, to become tree-like spray by A areas, B areas, C areas, D areas from sintering
Medicine.
The requirement of A areas sprays to target, has 3 to target spray drug operation point, on the center line in A areas, there is robot ambulation guiding
Line.In robot to target spray place A1, A2, A3, there is spray place indication wire.B areas require to fixation tree-like spray, tree-like knot
Known to structure.On the center line in B areas, equipped with robot ambulation guide line, in spray enforcement place B2, B3, B4, without operation
Point indication wire.
C areas tree target shape is identical with B areas, but two kinds of tree-like sizes are the 90% and 80% of B areas respectively, robot by B5,
C1 points（Without traveling guide line after B5 points）It reaches C2 points to stop, spraying, the progress of C3, C4 point is continued to after spray
Operation, robot proceeds to C5 points after C4 points, and robot manipulating task is completed herein, later along B1, A4 until A1 returns to starting
Area.
According to laws of the game, to complete match task, it is necessary to have good mechanical structure.But current experiment
The experimental facilities of equipment, particularly higher education, it is fewer for the experimental facilities of contest link exploitation, just start to enter the lists
Student, proximate nutrition obscures, it is therefore necessary to develop relevant spray robot, to student competition guide.
Invention content
In order to solve above-mentioned technical problem, the present invention devises a kind of spray robot chassis structure, Ke Yishi
The basic exercise of existing robot follows line movement, the functions such as stopping a train at a target point and plane autonomous positioning.
In order to solve above-mentioned technical problem, present invention employs following scheme：
A kind of spray robot chassis structure, including chassis body and the wheel being symmetricly set at left and right sides of chassis body,
Each wheel independently drives；The forepart of the chassis body is provided with main control chip, and the rear portion of the chassis body is provided with
Plane positioning system；Preceding tracking module and rear tracking mould are symmetrically provided in the middle part of the chassis body front center and rear end
Block, the front end of the chassis body are symmetrically provided with left tracking module and right tracking module, a left side for the chassis body
Right both sides are also symmetrically provided with spray target detection module.
Further, the chassis body is the harden structure of Rectangular Plate Structure or approximate ellipsoidal.
Further, the material of the chassis body is aluminium sheet.
Further, there are four the wheels, respectively with the output axis connection of corresponding motor；The motor passes through opposite
The electric machine support answered is fixed on the lower section of the chassis body, and the motor is connect with corresponding motor drive ic；It is described
There are four motor drive ics, and the signal controlling switch of each motor drive ic is connected to institute by corresponding signal wire
It states on the corresponding pin of main control chip.
Further, the electric machine support is L shaped plate structure, and the electric machine support is connected by screw and the chassis body
It connects, the motor is fixed by screws on the electric machine support.
Further, the motor is direct current generator.
Further, each tracking module includes gray-scale sensor, the signal input and output of each gray-scale sensor
End is connected to by signal wire on the corresponding pin of the main control chip respectively.
Further, the spray target detection module is made of optoelectronic switch, and the signal control terminal of the spray target detection module is led to
Corresponding signal wire is crossed to be connected on the corresponding pin of the main control chip.
Further, the plane positioning system includes electronic compass and encoder.
During work, the main control chip sends PWM wave and low and high level to the motor drive ic and then drives each electricity
Machine forward or reverse, realize the spray advance of robot, retrogressing, turn left to advance, turn left to retreat, turn right advance, turn right retreat and
The elemental motions such as stopping；The signal that each tracking module is detected according to itself, judges robot relative to traveling guide line
Position, and then judge the posture on robot chassis, and transmit a signal to the main control chip, the main control chip controls institute
It states motor constantly to correct, makes robot by the flow of programming, follow the walking of traveling guide line；It is described spray target detection module according to
The photosignal detected according to it judges to spray position of the target relative to robot, by sending a signal to the main control chip, control
Robot processed accurately stops at spray point.The plane positioning system by the orientation on electronic compass and encoder output chassis and
Attitude information guided robot completes C areas（There is no guide line）Spray task.
The spray robot chassis structure has the advantages that：
（1）The present invention can be in the match scene of setting, and according to laws of the game, automatic identification starting line, stop line and traveling are drawn
Conducting wire in the part way of no guide line, can realize autonomous positioning and the navigation on chassis.
（2）Cost of the present invention is relatively low, is particularly suitable for teaching and contest, is easy to student's left-hand seat.
Description of the drawings
Fig. 1：Spray robot competition venue schematic layout pattern in the present invention；
Fig. 2：The structure diagram of spray robot chassis structure in embodiment of the present invention；
Fig. 3：The schematic layout pattern of spray robot chassis structure in embodiment of the present invention；
Fig. 4：The front view of electric machine support in embodiment of the present invention；
Fig. 5：The vertical view of electric machine support in embodiment of the present invention；
Fig. 6：The left view of electric machine support in embodiment of the present invention.
Reference sign：
1-chassis body；2-wheel；21-the near front wheel；22-left rear wheel；23-off-front wheel；24-off hind wheel；3-motor；
4-motor drive ic；5-electric machine support；6-main control chip；71-left tracking module；72-preceding tracking module；73-right
Tracking module；74-rear tracking module；8-plane positioning system；9-spray target detection module.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention will be further described：
Fig. 2 to Fig. 6 shows a kind of embodiment of present invention spray robot chassis structure.Fig. 2 is sprayed in present embodiment
The structure diagram of medicine robot chassis structure, Fig. 3 are the schematic layout patterns of spray robot chassis structure in present embodiment.
As shown in Figure 2 and Figure 3, the spray robot chassis structure in present embodiment, including chassis body 1 and symmetrically
The wheel 2 of 1 left and right sides of chassis body is arranged on, each wheel independently drives.The forepart of chassis body 1 is provided with main control chip 6,
The rear portion of chassis body 1 is provided with plane positioning system 8；Before being symmetrically provided in the middle part of 1 front center of chassis body and rear end
Tracking module 72 and rear tracking module 74, the front end of chassis body 1 are symmetrically provided with left tracking module 71 and right tracking
Module 73, the left and right sides of chassis body 1 are also symmetrically provided with spray target detection module 9.
Chassis body 1 is the harden structure of Rectangular Plate Structure or approximate ellipsoidal, and in the present embodiment, chassis body 1 employs
Rectangular Plate Structure, but the structure of chassis body 1 is not limited only to this.
In the present embodiment, the material of chassis body 1 is aluminium sheet, light-weight, easy processing.
As shown in Figure 2 and Figure 3, it is the near front wheel 21, left rear wheel 22, off-front wheel 23 and off hind wheel 24 respectively there are four wheels 2.
Four wheels output axis connection with corresponding motor 3 respectively；Motor 3 is fixed on chassis by corresponding electric machine support 5
The lower section of ontology 1, motor 3 are connect with corresponding motor drive ic 4；There are four motor drive ics 4, and each motor drives core
The signal controlling switch of piece 4 is connected to by corresponding signal wire on 6 corresponding pin of main control chip.
Specifically, electric machine support 5 is L shaped plate structure, and as shown in Figures 4 to 6, fig. 4 to fig. 6 is shown in present embodiment
The three-view diagram of electric machine support.Electric machine support 5 is connected by screw and chassis body 1, and motor 3 is fixed by screws in electric machine support
On 5.
Specifically, motor 3 uses direct current generator.
When robot advances, each direct current generator 3 is controlled by independent motor drive ic 4, and main control chip 6 passes through
Logic level is sent to motor drive ic 4, the level of IN1, IN2 and EN pin by controlling motor drive ic 4, control
Make rotating speed and the steering of each motor 3.Wherein, EN is Enable Pin, and IN1, IN2 of motor drive ic 4 are motor steering control
End, when respectively 1,0, motor rotates forward, when respectively 0,1, motor reversal.Pwm signal is inputted to EN, adjusts the duty ratio of PWM,
Motor speed, and then rotating speed and steering by controlling each motor 3 can be adjusted, controls the movement on entire chassis.When four electricity
When machine 3 all rotates forward, chassis, which is advanced, keeps straight on；When four motors 3 all invert, chassis retreats straight trip；Two motors rotate forward on the left of chassis,
Two motor reversals on the right side of chassis, chassis, which is turned right, advances；Two motor reversals on the left of chassis, two, the right side in chassis motors rotate forward,
Turn left to advance in chassis.
As shown in Figure 2 and Figure 3, the spray robot chassis structure in present embodiment, each tracking module include gray scale and pass
Sensor, the signal input output end of each gray-scale sensor are connected to by signal wire on 6 corresponding pin of main control chip respectively.This
In embodiment, preceding tracking module 72 is located at the front center of chassis body 1, and rear tracking module 74 is located at the rear end of chassis body 1
Middle part, preceding tracking module 72 and rear tracking module 74 are symmetrical arranged about the left and right central axes of chassis body 1.
As shown in Figure 2 and Figure 3, the spray robot chassis structure in present embodiment, spray target detection module 9 are opened by photoelectricity
It closes and forms, the signal control terminal of spray target detection module 9 is connected to 6 corresponding pin of main control chip by corresponding signal wire
On.
As shown in Figure 2 and Figure 3, the spray robot chassis structure in present embodiment, plane positioning system 8 include electronics
Compass and encoder.
During work, if Fig. 1 shows, robot is from spray starting point, successively by A areas, B areas, C areas.There is robot in A areas
Traveling guide line and spray point indication wire, robot advances in A areas along traveling guide line, preceding tracking module 72 and rear tracking mould
Block 74 is by detecting the variation that changes to judge chassis attitude of the guide line relative to oneself position, when bodywork's direction and position changes
When, preceding tracking module 72 and rear tracking module 74 can export the signal of variation to main control chip 6, and main control chip 6 is by these
Signal analysis and processing is determined according to program, is judged the situation of change of chassis attitude and is adjusted in time.When robot row to spray
During snack made with traditional Chinese medicines, right tracking module 73 can detect spray point indication wire, and send the signal detected to main control chip 6, master control
Chip 6 upon receipt of the signals, is determined according to program, and the parking of control robot starts spray action, when completion spray task
Afterwards, main control chip 6 can control robot to continue to move ahead, and be sequentially completed A areas spray task, right when robot marches to A4 points
Tracking module 73 will detect guide line, and transmit a signal to main control chip 6, and main control chip 6 is according to program requirement, control machine
Device people completes to turn right for the first time, and robot will continue to straight forward later, and when reaching B1 points, right tracking module 73 will detect again
To guide line, and main control chip 6 is transmitted a signal to, main control chip 6 can control robot to complete second and turn right, and enter B
Area spray region.
There are robot traveling guide line, but a no spray point indication wire in B areas, when robot row to desired spray point,
Spray target detection module 9 detects spray target, and the signal of output can be become to detect by low level state when spray target being not detected originally
To the high level state of spray target, after main control chip 6 receives signal, determine according to program, the parking of control robot starts to spray
Action, after spray action is completed, main control chip 6 can control robot to continue to move ahead, and be sequentially completed B areas spray task, work as machine
Device people marches to B5 points, and the signal that preceding tracking module 72 exports can change, and by the signal transmission of variation to main control chip
6, main control chip 6 controls robot to complete to turn left for the first time.
Due to guide line of not advancing from B5 points to C1 points, robot judges its appearance after right-hand rotation, by plane positioning system 8
State and position, plane positioning system 8 include encoder and electronic compass.Electronic compass is by returning to the azimuth of robot to master
Control chip 6 and then come the Orientation differences that judge robot, and constantly adjusted；Encoder is by exporting pulse to main control chip
6, main control chip 6 determines the traveling displacement of robot by calculating umber of pulse, in addition the azimuth information of robot determines machine
Device people is in the position of competition area.8 real-time Transmission robot pose of plane positioning system and location information to main control chip 6, when
Robot marches to C1 points, and main control chip 6 controls robot to complete second of left-hand rotation, and enters C areas spray region.
C areas spray region does not have robot traveling guide line, but has spray point indication wire, and plane positioning system 8 passes in real time
Defeated robot pose and location information are to main control chip 6.When robot marches to the spray point of requirement, left tracking module 71 detects
To spray point indication wire, and main control chip 6 is outputed signal to, main control chip 6 controls robot to be sequentially completed C areas spray task.
Robot B1 points, A4 points return to spray starting point until A1 points later.
The present invention, main control chip send PWM wave and low and high level to motor drive ic so that drive each motor rotate forward or
It inverts, the bases such as advance, retrogressing, left-hand rotation advance, left-hand rotation retrogressing, advance of turning right, right-hand rotation retrogressing and stopping of realization spray robot
This action；The signal that tracking module is detected according to itself judges position of the robot relative to traveling guide line, and then judges
The posture on robot chassis, and main control chip is transmitted a signal to, main control chip control motor is constantly corrected, and makes robot by journey
The flow of sequence design follows the walking of traveling guide line；The photosignal that spray target detection module is detected according to it judges to spray target phase
For the position of robot, by sending a signal to main control chip, control robot accurately stops at spray point.Plane positioning system
System completes the spray task in C areas by the orientation and attitude information guided robot on electronic compass and encoder output chassis.This
Invention can be in the match scene of setting, and according to laws of the game, automatic identification starting line, stop line and traveling guide line are not having
There is the part way of guide line, can realize autonomous positioning and the navigation on chassis.
Cost of the present invention is relatively low, is particularly suitable for teaching and contest, is easy to student's left-hand seat.
Illustrative description is carried out to the present invention above in conjunction with attached drawing, it is clear that realization of the invention is not by aforesaid way
Limitation, as long as employ the inventive concept and technical scheme of the present invention progress various improvement or it is not improved will be of the invention
Design and technical solution directly apply to other occasions, within the scope of the present invention.
Claims (10)
1. a kind of spray robot chassis structure, which is characterized in that including chassis body and be symmetricly set on a chassis body left side
The wheel of right both sides, each wheel independently drive；The forepart of the chassis body is provided with main control chip, the chassis body
Rear portion be provided with plane positioning system；Tracking module before being symmetrically provided in the middle part of the chassis body front center and rear end
With rear tracking module, the front end of the chassis body is symmetrically provided with left tracking module and right tracking module, the bottom
The left and right sides of disk ontology is also symmetrically provided with spray target detection module.
2. spray robot chassis structure according to claim 1, which is characterized in that the chassis body is that rectangle is hardened
The harden structure of structure or approximate ellipsoidal.
3. spray robot chassis structure according to claim 1 or 2, which is characterized in that the material of the chassis body
It is aluminium sheet.
4. spray robot chassis structure according to claim 1 or 2, which is characterized in that there are four the wheels, respectively
With the output axis connection of corresponding motor；The motor is fixed on by corresponding electric machine support under the chassis body
Side, the motor are connect with corresponding motor drive ic；There are four the motor drive ics, each motor driving core
The signal controlling switch of piece is connected to by corresponding signal wire on the corresponding pin of the main control chip.
5. spray robot chassis structure according to claim 4, which is characterized in that the electric machine support is L shaped plate knot
Structure, the electric machine support are connected by screw with the chassis body, and the motor is fixed by screws in the electric machine support
On.
6. spray robot chassis structure according to claim 4, which is characterized in that the motor is direct current generator.
7. according to the spray robot chassis structure described in claim 1,2,5 or 6, which is characterized in that each tracking module
Include gray-scale sensor, the signal input output end of each gray-scale sensor is connected to the master control by signal wire respectively
On the corresponding pin of chip.
8. according to the spray robot chassis structure described in claim 1,2,5 or 6, which is characterized in that the spray target detection mould
Block is made of optoelectronic switch, and the signal control terminal of the spray target detection module is connected to the master control by corresponding signal wire
On the corresponding pin of chip.
9. spray robot chassis structure according to claim 7, which is characterized in that the spray target detection module is by photoelectricity
Switch is formed, and the signal control terminal of the spray target detection module is connected to the main control chip by corresponding signal wire and corresponds to
Pin on.
10. according to the spray robot chassis structure described in claim 1,2,5,6 or 9, which is characterized in that the plane positioning
System includes electronic compass and encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163314.1A CN108184804A (en) | 2018-02-27 | 2018-02-27 | A kind of spray robot chassis structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163314.1A CN108184804A (en) | 2018-02-27 | 2018-02-27 | A kind of spray robot chassis structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108184804A true CN108184804A (en) | 2018-06-22 |
Family
ID=62594167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810163314.1A Pending CN108184804A (en) | 2018-02-27 | 2018-02-27 | A kind of spray robot chassis structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108184804A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109109024A (en) * | 2018-10-31 | 2019-01-01 | 西北农林科技大学 | A kind of orchard spray robot competition venue |
| 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 |
| CN109334657A (en) * | 2018-09-21 | 2019-02-15 | 广州欧纬德教学设备技术有限公司 | A kind of automated parking system and method based on teaching vehicle |
-
2018
- 2018-02-27 CN CN201810163314.1A patent/CN108184804A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334657A (en) * | 2018-09-21 | 2019-02-15 | 广州欧纬德教学设备技术有限公司 | A kind of automated parking system and method based on teaching vehicle |
| CN109334657B (en) * | 2018-09-21 | 2020-06-23 | 广州欧纬德教学设备技术有限公司 | Automatic parking system and method based on teaching vehicle |
| CN109109024A (en) * | 2018-10-31 | 2019-01-01 | 西北农林科技大学 | A kind of orchard spray robot competition venue |
| 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 |
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Application publication date: 20180622 |
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