CN109405878A - The robot of environmental aspect can be detected automatically - Google Patents
The robot of environmental aspect can be detected automatically Download PDFInfo
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- CN109405878A CN109405878A CN201811168918.1A CN201811168918A CN109405878A CN 109405878 A CN109405878 A CN 109405878A CN 201811168918 A CN201811168918 A CN 201811168918A CN 109405878 A CN109405878 A CN 109405878A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
- H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
- H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
- H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
- H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/33569—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements
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- General Physics & Mathematics (AREA)
- Inverter Devices (AREA)
Abstract
The invention discloses a kind of robots that can detect environmental aspect automatically, including car body, soil humidity sensor, water pump and multipair infrared emission pipe, the inside of car body is equipped with microprocessor and power supply module, microprocessor respectively with soil humidity sensor, infrared emission pipe is connected with power supply module, microprocessor is also connected with the temperature sensor for Induction Air Temperature, for incuding the photosensitive sensor of intensity of illumination and the steering engine being fixed on swivel plate, water pump is installed on swivel plate, the front of car body is equipped with pallet, flowerpot is placed according to the angle set in microprocessor on pallet；Power supply module includes voltage input end, first resistor, second resistance, the second capacitor, third capacitor, 3rd resistor, the first IGBT pipe, the 2nd IGBT pipe, the second diode, the first inductance, transformer, first diode and voltage output end.Circuit structure of the present invention is relatively simple, cost is relatively low, maintain easily, the safety and reliability of circuit is higher.
Description
Technical field
The present invention relates to robot field, in particular to a kind of robot that can detect environmental aspect automatically.
Background technique
Robot (Robot) is the automatic installations for executing work.Robot is subjected to mankind commander, can also execute
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.What robot executed is to replace
Or the work of human work, such as manufacturing industry, construction industry are assisted, or dangerous work.Robot be it is a kind of programmable and
It is multi-functional, for materials hauling, part, tool operation machine；Or in order to execute different tasks and have it is changeable and
The specialized system of programmable movement.The robot using solar energy automatic flower watering exists in the prior art, using solar energy to machine
Device people power supply, when detecting that soil needs to water, robot accurately reached according to route water shortage flowerpot position by water pump into
Row watering.The component that the power pack of traditional robot uses is more, and circuit structure is complicated, and hardware cost is higher, it has not been convenient to
Maintenance.In addition, since the power pack of traditional robot lacks corresponding circuit protection function, such as: current-limiting protection function is made
It is poor at the safety and reliability of circuit.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the above drawbacks of the prior art, provide a kind of circuit structure compared with
For simple, cost is relatively low, maintains easily, the higher machine that can detect environmental aspect automatically of the safety and reliability of circuit
People.
The technical solution adopted by the present invention to solve the technical problems is: constructing a kind of machine that can detect environmental aspect automatically
Device people, including car body, soil humidity sensor, water pump and the multipair infrared emission pipe being mounted side by side, the water pump is equipped with
The mouth of a river, the infrared emission pipe are installed on the bottom of the car body, and the bottom front installation of the car body is there are two front vehicle wheel, and two
It is respectively provided on a front vehicle wheel for driving the motor that the car body is mobile and turns to, the inside of the car body is equipped with micro- place
Reason device and power supply module, the microprocessor are connect with the soil humidity sensor, infrared emission pipe and power supply module respectively,
The microprocessor is also connected with the temperature sensor for Induction Air Temperature, the photosensitive sensor for incuding intensity of illumination
With the steering engine being fixed on swivel plate, the water pump is installed on the swivel plate, and the front of the car body is equipped with pallet, institute
It states and places flowerpot according to the angle set in the microprocessor on pallet；
The power supply module includes voltage input end, first resistor, second resistance, the second capacitor, third capacitor, third electricity
Resistance, the first IGBT pipe, the 2nd IGBT pipe, the second diode, the first inductance, transformer, first diode and voltage output end, institute
State one end of voltage input end respectively with one end of the first capacitor, one end of first resistor, one end of second resistance, first
The connection of the anode of the collector of IGBT pipe and the second diode, the other end of the first capacitor and the other end of first resistor are equal
It is connect with the other end of the voltage input end, the other end of the second resistance is connect with one end of second capacitor, institute
State the other end of the second capacitor respectively with one end of the third capacitor, one end of the first inductance, the first IGBT pipe emitter
It being connected with the collector of the 2nd IGBT pipe, the other end of the third capacitor is connect with one end of the 3rd resistor, and described
The emitter of the other end of three resistance and the 2nd IGBT pipe is connect with the other end of the voltage input end, the two or two pole
The cathode of pipe is connect with the emitter of one end of the primary coil of the transformer and the 2nd IGBT pipe respectively, the transformer
The other end of primary coil is connect with the other end of first inductance, one end of the primary coil of the transformer and described the
The anode of one diode connects, and the cathode of the first diode is connect with one end of the voltage output end, the transformer
The other end of secondary coil connect with the other end of the voltage output end, the model S-452T of second diode.
In the robot of the present invention that can detect environmental aspect automatically, the power supply module further includes the 4th electricity
Hold, one end of the 4th capacitor connect with the emitter of the first IGBT pipe, the other end of the 4th capacitor with it is described
The collector of 2nd IGBT pipe connects, and the capacitance of the 4th capacitor is 420pF.
In the robot of the present invention that can detect environmental aspect automatically, the power supply module further includes the three or two pole
Pipe, the anode of the third diode connect with the cathode of second diode, the cathode of the third diode with it is described
The emitter of 2nd IGBT pipe connects, the model E-822 of the third diode.
In the robot of the present invention that can detect environmental aspect automatically, the power supply module further includes the 4th electricity
Resistance, one end of the 4th resistance are connect with the other end of the secondary coil of the transformer, the other end of the 4th resistance
It is connect with the other end of the voltage output end, the resistance value of the 4th resistance is 43k Ω.
In the robot of the present invention that can detect environmental aspect automatically, the model L- of the first diode
2733。
In the robot of the present invention that can detect environmental aspect automatically, the model of first inductance
CIL2Y100KNE。
Implement the robot that can detect environmental aspect automatically of the invention, have the advantages that due to be equipped with car body,
Soil humidity sensor, water pump and the multipair infrared emission pipe being mounted side by side, the inside of car body are equipped with microprocessor and power supply mould
Block；Power supply module includes voltage input end, first resistor, second resistance, the second capacitor, third capacitor, 3rd resistor, first
IGBT pipe, the 2nd IGBT pipe, the second diode, the first inductance, transformer, first diode and voltage output end, the power supply mould
Power pack of the block relative to traditional robot, the component used is less, in this way can be with due to saving some components
Hardware cost is reduced, in addition, the second diode is used to carry out current-limiting protection, therefore circuit structure is relatively simple, cost is relatively low, side
Just maintenance, the safety and reliability of circuit are higher.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the invention that can be detected automatically in robot one embodiment of environmental aspect；
Fig. 2 is the structural block diagram for detecting the robot of environmental aspect in the embodiment automatically；
Fig. 3 is the circuit diagram of power supply module in the embodiment.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the robotic embodiment that the present invention can detect environmental aspect automatically, this can detect the machine of environmental aspect automatically
The structural schematic diagram of people is as shown in Figure 1, the structural block diagram of the robot that can detect automatically environmental aspect is as shown in Figure 2.This reality
It applies in example, which includes car body 1, soil humidity sensor 2, water pump 3 and be mounted side by side
Multipair infrared emission pipe 4, water pump 3 be equipped with water outlet 31, water pump 3 is connected in the pond equipped with water by water pipe, infrared
To the bottom penetrated pipe 4 and be installed on car body 1, there are two front vehicle wheel (not shown), two front trucks for the bottom front installation of car body 1
It is respectively provided on wheel for driving the motor 6 that car body 1 is mobile and turns to, the inside of car body 1 is equipped with microprocessor 7 and power supply module
8, microprocessor 7 is connect with soil humidity sensor 2, infrared emission pipe 4 and power supply module 8 respectively, and microprocessor 7 is also connected with
For the temperature sensor 9 of Induction Air Temperature, the photosensitive sensor 10 for incuding intensity of illumination and it is fixed on swivel plate
Steering engine 11, water pump 3 is installed on swivel plate, and the front of car body 1 is equipped with pallet 12, according in microprocessor 7 on pallet 12
The angle of setting places flowerpot 13.
In the present embodiment, the model STC89C52 of the use of microprocessor 7.7 temperature sensor 9 of microprocessor, soil
The information of earth humidity sensor 2 and photosensitive sensor 10, driving motor 6 work；The corresponding flowerpot 13 of soil humidity sensor 2
When humidity is lower than preset value, the pin of microprocessor 7 connected to it exports low level, and microprocessor 7 is low according to the pin
The rotation angle driving rotation of steering engine 11 being arranged when level is lower than at the flowerpot 13 of preset value to humidity；Microprocessor 7 passes through control
Power supply module 8 processed is connected feed pump 3 and powers, and control power supply module 8 disconnects feed pump 3 and powers off.
The intensity of 10 detection light of photosensitive sensor presets the corresponding resistance value of luminous intensity in the program of microprocessor 7, when
When the luminous intensity that photosensitive sensor 10 senses is smaller, when corresponding resistance value is greater than preset value, high level is exported, when photosensitive biography
When the luminous intensity that sensor 10 senses is larger, when corresponding resistance value is less than preset value, low level is exported.
Temperature sensor 9 detects the temperature in air, the humidity in 2 real-time detection soil of soil humidity sensor；Motor 6
It is separately mounted on two, the front wheel on car body 1, is connect respectively by two conducting wires with the output end of microprocessor 7, when
When the two output ends all issue 10 signal, car body 1 advances；When the two output ends all issue 01 signal, car body 1 is retreated；
When left side output end issues 01 signal, and the right output end issues 10, car body 1 turns left；When left side output end issues 10 signals, the right side
When side output end issues 01 signal, car body 1 is turned right.
Above-mentioned infrared emission pipe 4 includes infrared transmitting tube and infrared receiving tube, and infrared transmitting tube issues infrared ray, on ground
Black line reflect infrared signal to infrared receiving tube, which sends a signal to microprocessor 7.
When the quantity of flowerpot 13 is multiple, soil is put into flowerpot, flowerpot among the program setting in microprocessor 7
13 position is origin position, and the position positioned at the flowerpot 13 on both sides is the position relative to origin position positive and negative 30；On ground
One black line of upper setting；Soil humidity sensor 2 is put into soil corresponding to each flowerpot 13, is sensed in soil moisture
In device 2 preset disengaging room time, car body 1 according to the preset time by black line of the infrared emission pipe 4 on landing ground to
It is moved outside room or in room, the period outside room, when soil humidity sensor 2 detects that the humidity of any 13 soil of flowerpot is high
When the preset value of microprocessor 7,31 origin position of water outlet；When microprocessor 7 detects the humidity of any 13 soil of flowerpot
Lower than microprocessor 7 preset value when, microprocessor 7 control swivel plate on 11 low humidity of steering engine soil corresponding to flowerpot
Direction, the water pump 3 being mounted on swivel plate moves 31 swivel plate of water outlet, and from origin position to rotate to low humidity soil corresponding
Flowerpot 13 is to microprocessor 7 controls power supply module 8 and is connected, and water pump 3 is made to be powered, and water pump 3 extracts water out in pond and passes through water outlet
31, water outlet 31 sprays water to the soil in the flowerpot 13 of low humidity, and soil humidity sensor continues to monitor the humidity in soil, when
When the humidity for the soil that soil humidity sensor 2 detects is higher than preset value in microprocessor 7, the control power supply mould of microprocessor 7
Block 8 disconnects, and water pump 3 stops pumping, and water outlet 31 is back to origin position.
If the low situation of humidity occur in other flowerpots 13 during water spray, then first by the wet of the flowerpot for needing to spray water
Degree is increased to preset value, then rotates water outlet 31 to origin position, then rotate to the low flowerpot 13 of other humidity and spray to it
Water；The intensity that 10 detection light of photosensitive sensor is shone, when luminous intensity is relatively lower than preset value, photosensitive sensor 10 exports high level
When, car body 1 does not move；When luminous intensity is higher than preset value, when photosensitive sensor 10 exports low level, microprocessor 7 controls electricity
Machine 6 drives car body 1 to move along black line into room, and the plant dehydration being planted in flowerpot 13 is avoided excessively to wither；In room
Between it is outer during, when temperature sensor 9 detects that air themperature is higher than preset value, microprocessor 7 controls motor 6 and drives 1 edge of car body
Black line moved into room, avoid the plant dehydration being planted in flowerpot 13 from excessively withering.Intensity of illumination and air themperature
Any index is more than preset value, and microprocessor 7 all controls motor 6 and car body is driven to move into room.
Fig. 3 is the circuit diagram of power supply module in the present embodiment, and in Fig. 3, which includes voltage input end
Vin, first resistor R1, second resistance R2, the second capacitor C2, third capacitor C3,3rd resistor R3, the first IGBT pipe Q1, second
IGBT pipe Q2, the second diode D2, the first inductance L1, transformer T, first diode D1 and voltage output end Vo, wherein voltage
One end of input terminal Vin respectively with one end of first capacitor C1, one end of first resistor R1, one end of second resistance R2, first
The connection of the anode of the collector of IGBT pipe Q1 and the second diode D2, the other end of first capacitor C1 and first resistor R1's is another
End is connect with the other end of voltage input end Vin, and the other end of second resistance R2 is connect with one end of the second capacitor C2, and second
The other end of capacitor C2 respectively with one end of third capacitor C3, one end of the first inductance L1, the first IGBT pipe Q1 emitter and
The collector of 2nd IGBT pipe Q2 connects, and the other end of third capacitor C3 is connect with one end of 3rd resistor R3,3rd resistor R3
The other end and the emitter of the 2nd IGBT pipe Q2 connect with the other end of voltage input end Vin, the yin of the second diode D2
Pole is connect with the emitter of one end of the primary coil of transformer T and the 2nd IGBT pipe Q2 respectively, the primary coil of transformer T
The other end is connect with the other end of the first inductance L1, and one end of the primary coil of transformer T and the anode of first diode D1 connect
It connects, the cathode of first diode D1 is connect with one end of voltage output end Vo, the other end and voltage of the secondary coil of transformer T
The other end of output end vo connects.
The power pack of the power supply module 8 relative to traditional robot, the component used is less, and circuit structure is more
Simply, it maintains easily, due to saving some components, hardware cost can be reduced in this way.In addition, the second diode D2 is limited
Diode is flowed, for carrying out current-limiting protection, therefore the safety and reliability of circuit is higher.It is noted that the present embodiment
In, the model S-452T of the second diode D2, certainly, in practical applications, the second diode D2 can also use its alloytype
Number with similar functions diode.
In the present embodiment, the model L-2733, the model CIL2Y100KNE of the first inductance L1 of first diode D1.
Certainly, in practical applications, first diode D can also have the diode of similar functions, the first inductance using other models
L1 can also have the inductance of similar functions using other models.
In the present embodiment, by the first IGBT pipe Q1, the 2nd IGBT pipe Q2, the second diode D2, transformer T and the first inductance
L1 etc. forms half-bridge PWM inverter circuit.The drive in the fixed dead zone of the phase phase difference 180 degree band that control circuit (not shown) issues
Moving pulse waveform is respectively G1 and G2, drives the first IGBT pipe Q1 and the 2nd IGBT pipe Q2 alternate conduction and shutdown.Thus
The current/voltage of voltage input end Vin is transformed into intermediate frequency square-wave AC current/voltage, and passes through transformer T decompression and secondary
Side rectification can be transformed into required low voltage direct current/voltage.Wherein second resistance R2 and the second capacitor C2 composition first
Source circuit, 3rd resistor R3 and third capacitor C3 form the second passive circuit, and the first inductance L1 can make the first IGBT pipe Q1 and the
When two IGBT pipe Q2 are opened, electric current is all to start from scratch to rise by certain slope.
The working principle of the power supply module 8 are as follows: when the first driving pulse G1 arrives, the first IGBT pipe Q1, which is driven, to be led
It is logical, due to the inhibiting effect of the first inductance L1, electric current I in the first IGBT pipe Q1Q1Start from scratch linear rise.So the
One IGBT pipe Q1's opens as zero current turning-on, turn-on consumption very little.
During first IGBT pipe Q1 is connected, energy is transmitted to secondary side after being depressured from transformer T, until the first IGBT pipe Q1
PWM shutdown.When first IGBT pipe Q1 is turned off, the first inductance L1 and major loop primary side leakage inductance electric current cannot be mutated, can be to the
One IGBT pipe Q1 and the second capacitor C2 connect charge, and to the 2nd IGBT pipe Q2 and the third capacitor C3 that connects discharges, so that a point current potential
Zero slowly is dropped to from the ceiling voltage of voltage input end Vin, therefore, its collector and emitter when the first IGBT pipe Q1 is turned off
Voltage UQ1It is the voltage value for slowly rising to voltage input end Vin by low-voltage, belongs to low-voltage type soft switching, shutdown damage
Consume very little.
After the fixed dead time of PWM, the second driving pulse G2 arrives, and the 2nd IGBT pipe Q2 is connected by driving, due to first
The inhibiting effect of inductance L1, electric current I in the 2nd IGBT pipe Q2Q2Start from scratch linear rise, so the 2nd IGBT pipe Q2
It opens as zero current turning-on, turn-on consumption very little.
During 2nd IGBT pipe Q2 is connected, energy is transmitted to secondary side after being depressured from transformer T, until the 2nd IGBT is managed
The PWM of Q2 is turned off.
When 2nd IGBT pipe Q2 is turned off, the first inductance L1 and major loop primary side leakage inductance electric current cannot be mutated, can be to second
IGBT pipe Q2 and the third capacitor C3 connect charge, and to the first IGBT pipe Q1 and the second capacitor C2 for connecing discharges, so that a point current potential is slow
Slowly the ceiling voltage for being increased to voltage input end Vin from zero, therefore, when the 2nd IGBT pipe Q2 is turned off, collector and emitter
Voltage UQ2It is the voltage value for slowly rising to voltage input end Vin by low-voltage, belongs to low-voltage type soft switching, shutdown damage
Consume very little.Therefore the first IGBT pipe Q1 and the 2nd IGBT pipe Q2 work turns off operating mode in zero current turning-on and low-voltage, has
The on/off loss of very little and lesser switching voltage/current stress.
First inductance L1 not only inhibits the electric current rate of climb when the first IGBT pipe Q1 and the 2nd IGBT pipe Q2 are opened, and is the
One IGBT pipe Q1 and the 2nd IGBT pipe Q2 provides zero current turning-on condition, when the first IGBT pipe Q1 and the 2nd IGBT pipe Q2 is turned off
It releases energy in passive resistance-capacitance absorption circuit, realizes that its magnetic flux automatically resets.Also in the first IGBT pipe Q1 and the 2nd IGBT pipe Q2
Conducting, transformer T play the inhibiting effect of the unidirectional magnetic biasing saturation of transformer during transmitting energy.
Concrete operating principle is: by the switch time parameter bring difference of the first IGBT pipe Q1 and the 2nd IGBT pipe Q2,
The switch on-state voltage drop parameter bring difference of first IGBT pipe Q1 and the 2nd IGBT pipe Q2, pwm pulse drive width bring
Difference can all cause voltage waveform Flux consumption positive-negative half-cycle asymmetric, and the positive-negative half-cycle voltage waveform of this asymmetric Flux consumption adds
On transformer T, the unidirectional magnetic biasing saturation of magnetic core can be caused by the offset of the core operating point of transformer T in accumulation formation.Become
For the magnetic core of depressor T once unidirectional magnetic biasing is saturated, major loop primary side current, which will have unlimitedly to increased dramatically, causes derailing switch
The trend of overcurrent damage when part on-state.At this point, primary side full voltage will be added on the first inductance L1, due to the limit of the first inductance L1
System, main circuit current can only slowly rise, and can inhibit current-rising-rate significantly, block the core operating point of transformer T after
Continuous offset.So the first inductance L1 plays the inhibiting effect of the unidirectional magnetic biasing saturation of magnetic core of transformer T.
In the present embodiment, which further includes the 4th capacitor C4, one end of the 4th capacitor C4 and the first IGBT pipe Q1
Emitter connection, the other end of the 4th capacitor C4 connect with the collector of the 2nd IGBT pipe Q2.4th capacitor C4 is coupling electricity
Hold, for preventing the interference between the first IGBT pipe Q1 and the 2nd IGBT pipe Q2, with further enhance circuit safety and can
By property.It is noted that the capacitance of the 4th capacitor C4 is 420pF in the present embodiment, certainly, in practical applications, the 4th
The capacitance of capacitor C4 can adjust accordingly as the case may be, that is, the capacitance of the 4th capacitor C4 can be according to tool
Body situation is increased accordingly or is reduced.
In the present embodiment, which further includes third diode D3, the anode of third diode D3 and the two or two pole
The cathode of pipe D2 connects, and the cathode of third diode D3 is connect with the emitter of the 2nd IGBT pipe Q1.Third diode D3 is limited
Diode is flowed, for carrying out current-limiting protection, further to enhance the safety and reliability of circuit.It is noted that this
In embodiment, the model E-822 of third diode D3, certainly, in practical applications, third diode D3's can also be used
Other models have the diode of similar functions.
In the present embodiment, which further includes the 4th resistance R4, one end of the 4th resistance R4 and time of transformer T
The other end connection of grade coil, the other end of the 4th resistance R4 are connect with the other end of voltage output end Vo.4th resistance R4 is
Current-limiting resistance, for carrying out current-limiting protection, to further enhance current limitation effect.It is noted that in the present embodiment, the 4th electricity
The resistance value for hindering R4 is 43k Ω, and certainly, in practical applications, the resistance value of the 4th resistance R4 can carry out accordingly as the case may be
Adjustment, that is, the resistance value of the 4th resistance R4 can be increased accordingly or be reduced as the case may be.
In short, in the present embodiment, the power pack of the power supply module 8 relative to traditional robot, the component used
Less, circuit structure is relatively simple, maintains easily, and due to saving some components, can reduce hardware cost in this way.Separately
Outside, Current Limiting Diodes are equipped in the power supply module 8, therefore the safety and reliability of circuit is higher.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of robot that can detect environmental aspect automatically, which is characterized in that including car body, soil humidity sensor, water pump
With the multipair infrared emission pipe being mounted side by side, the water pump is equipped with water outlet, and the infrared emission pipe is installed on the car body
Bottom, the bottom front installation of the car body is respectively provided with for driving there are two front vehicle wheel on two front vehicle wheels
The motor that car body is mobile and turns to is stated, the inside of the car body is equipped with microprocessor and power supply module, the microprocessor difference
It is connect with the soil humidity sensor, infrared emission pipe and power supply module, the microprocessor is also connected with for incuding sky
The temperature sensor of temperature degree, the photosensitive sensor for incuding intensity of illumination and the steering engine being fixed on swivel plate, the water
Pump is installed on the swivel plate, and the front of the car body is equipped with pallet, according to setting in the microprocessor on the pallet
Fixed angle places flowerpot；
The power supply module include voltage input end, first resistor, second resistance, the second capacitor, third capacitor, 3rd resistor,
First IGBT pipe, the 2nd IGBT pipe, the second diode, the first inductance, transformer, first diode and voltage output end, it is described
One end of voltage input end respectively with one end of the first capacitor, one end of first resistor, one end of second resistance, first
The connection of the anode of the collector of IGBT pipe and the second diode, the other end of the first capacitor and the other end of first resistor are equal
It is connect with the other end of the voltage input end, the other end of the second resistance is connect with one end of second capacitor, institute
State the other end of the second capacitor respectively with one end of the third capacitor, one end of the first inductance, the first IGBT pipe emitter
It being connected with the collector of the 2nd IGBT pipe, the other end of the third capacitor is connect with one end of the 3rd resistor, and described
The emitter of the other end of three resistance and the 2nd IGBT pipe is connect with the other end of the voltage input end, the two or two pole
The cathode of pipe is connect with the emitter of one end of the primary coil of the transformer and the 2nd IGBT pipe respectively, the transformer
The other end of primary coil is connect with the other end of first inductance, one end of the primary coil of the transformer and described the
The anode of one diode connects, and the cathode of the first diode is connect with one end of the voltage output end, the transformer
The other end of secondary coil connect with the other end of the voltage output end, the model S-452T of second diode.
2. the robot according to claim 1 that environmental aspect can be detected automatically, which is characterized in that the power supply module is also
Including the 4th capacitor, one end of the 4th capacitor is connect with the emitter of the first IGBT pipe, the 4th capacitor it is another
One end is connect with the collector of the 2nd IGBT pipe, and the capacitance of the 4th capacitor is 420pF.
3. the robot according to claim 2 that environmental aspect can be detected automatically, which is characterized in that the power supply module is also
Including third diode, the anode of the third diode is connect with the cathode of second diode, the third diode
Cathode connect with the emitter of the 2nd IGBT pipe, the model E-822 of the third diode.
4. the robot according to claim 3 that environmental aspect can be detected automatically, which is characterized in that the power supply module is also
Including the 4th resistance, one end of the 4th resistance is connect with the other end of the secondary coil of the transformer, the 4th electricity
The other end of resistance is connect with the other end of the voltage output end, and the resistance value of the 4th resistance is 43k Ω.
5. the robot according to any one of claims 1 to 4 that environmental aspect can be detected automatically, which is characterized in that institute
State the model L-2733 of first diode.
6. the robot according to any one of claims 1 to 4 that environmental aspect can be detected automatically, which is characterized in that institute
State the model CIL2Y100KNE of the first inductance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811168918.1A CN109405878A (en) | 2018-10-08 | 2018-10-08 | The robot of environmental aspect can be detected automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811168918.1A CN109405878A (en) | 2018-10-08 | 2018-10-08 | The robot of environmental aspect can be detected automatically |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110109190A (en) * | 2019-04-16 | 2019-08-09 | 浙江大华机器人技术有限公司 | A kind of object space determines method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110109190A (en) * | 2019-04-16 | 2019-08-09 | 浙江大华机器人技术有限公司 | A kind of object space determines method and system |
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