CN112947242A - Embedded engineering dolly for education - Google Patents
Embedded engineering dolly for education Download PDFInfo
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- CN112947242A CN112947242A CN202110290259.4A CN202110290259A CN112947242A CN 112947242 A CN112947242 A CN 112947242A CN 202110290259 A CN202110290259 A CN 202110290259A CN 112947242 A CN112947242 A CN 112947242A
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- trolley
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an embedded engineering trolley for education, which comprises a trolley body, a main control MCU (microprogrammed control unit), a Bluetooth module, a Malen driving module, an infrared photoelectric tracking module, a photosensitive photoelectric tracking module, an ultrasonic obstacle avoidance module, a remote image transmission module and a power supply module, wherein the power supply module supplies power to the whole engineering trolley through a voltage stabilizing circuit; two Mecanum wheels are respectively arranged on two sides of the vehicle body; the car body is divided into a top layer and a bottom layer, the top layer adopts an acrylic plate, and a photosensitive photoelectric tracking module, an ultrasonic obstacle avoidance module and a remote picture transmission module are fixedly arranged on the acrylic plate; the multifunctional intelligent low-age student desk is suitable for being used by low-age students to study and manufacture, and can also complete simple cargo carrying tasks, indoor visible light positioning, indoor environment monitoring and other functions.
Description
Technical Field
The invention belongs to the technical field of embedded and automatic control, and particularly relates to an embedded engineering trolley for education.
Background
The Arduino is a convenient, flexible and convenient open-source electronic platform, supports C/C + + programming, has a simple language framework, and has a special technical communication platform for users to communicate and learn. Arduino mainly includes two parts, and hardware circuit part is like Arduino development board and Arduino IDE instrument, and its accessible all kinds of sensors come the perception environment, changes the environment through feedback such as motor, steering wheel again. The characteristics of easy operation and strong function become the entry choice of a plurality of embedded learners.
The mecanum wheel is a patent from the mcinar mother company, sweden, and is mainly composed of a hub, which is the main body support of the entire wheel, and rollers, which are drums mounted on the hub. The vectors can be superposed to form a final resultant force vector through different speeds and motion directions of respective motors, so that free movement in the vector direction is realized, and further omnidirectional movement on a plane is realized through different vector combinations.
In the education process, a beginner can not quickly start the embedded technology and enter the embedded technology; and the robot is not easy to assemble and program, is more difficult to develop in a direction, and is not suitable for the entrance of a beginner of a low age. In addition, in the existing scheme, two paths of PWM are mostly used for controlling the forward and reverse rotation of one path of motor, so that the utilization rate of a PWM multiplexing port is not high, and the I/O resource of a single chip microcomputer is wasted.
Disclosure of Invention
The invention aims to provide an embedded engineering trolley for education, so that beginners of embedded technology can quickly start and enter the embedded engineering trolley. The robot is developed towards the direction of low threshold and easy to use, so that the robot can be used for people with lower ages, such as junior/senior high school students, enlightening embedded education, and solving the problems in the background art.
In order to achieve the purpose, the embodiment of the invention provides an embedded engineering trolley for education, which is characterized by comprising a trolley body, a main control MCU, a Bluetooth module, a Malen driving module, an infrared photoelectric tracking module, a photosensitive photoelectric tracking module, an ultrasonic obstacle avoidance module, a remote image transmission module and a power supply module, wherein the power supply module supplies power to the whole engineering trolley through a voltage stabilizing circuit; two Mecanum wheels are respectively arranged on two sides of the vehicle body; the car body is divided into a top layer and a bottom layer, the top layer adopts an acrylic plate, and a photosensitive photoelectric tracking module, an ultrasonic obstacle avoidance module and a remote picture transmission module are fixedly arranged on the acrylic plate; the bottom layer is provided with a PCB circuit board, the PCB circuit board is integrated with a plurality of slots for the main control MCU, the Bluetooth module, the infrared photoelectric tracking module and the Mlun driving module to be inserted, and chips of the main control MCU, the Bluetooth module, the infrared photoelectric tracking module and the Mlun driving module are inserted in the slots in a direct insertion mode; the Mecanum wheels are respectively connected with driving motors through couplings, and the driving motors are connected with a main control MCU through a Mlen driving module; the master control MCU is also electrically connected with a Bluetooth module, a photosensitive photoelectric tracking module, an infrared photoelectric tracking module, an ultrasonic obstacle avoidance module and a remote image transmission module.
Further, infrared photoelectric tracking module installs in the automobile body bottom, infrared photoelectric tracking module includes LM393 voltage comparator and TCRT5000 infrared reflection sensor, LM393 voltage comparator compares TCRT 5000's feedback voltage and threshold voltage to judge dolly operational environment.
Furthermore, the photosensitive photoelectric tracking module is used for collecting indoor or outdoor illumination intensity, an ADC port of the main control MCU is electrically connected with the photosensitive photoelectric tracking module to collect the illumination intensity, and the photosensitive photoelectric tracking module and the main control MCU are matched for use through a mean value filtering algorithm and a PD feedback control algorithm to realize the light following advancing of the trolley, so that the indoor environment illumination intensity is accurately positioned.
Furthermore, the ultrasonic obstacle avoidance module can measure the distance of the front of the vehicle body within a range of 0-180 degrees, detects an obstacle and sends obstacle information to the main control MCU, and the main control MCU performs path planning through a BUG algorithm.
Further, the mallow driving module is configured as a driving circuit composed of L293D and 74LS04, and the L293D is used for realizing output control of four-way PWM; the 74LS04 is used as a direction pin to control the running direction of a driving motor, and the Mlen driving module is used for realizing motor control with controllable four ways of directions and controllable speed and realizing the omnidirectional traveling of the Mlen.
Furthermore, the Bluetooth module is used for realizing interaction between the educational engineering trolley and the terminal equipment, the terminal equipment obtains detection information of the educational engineering trolley on the environment through the remote graph transmission module, and the terminal equipment can send a control command to the educational engineering trolley to realize remote control.
Preferably, the terminal device includes one or more of a mobile phone, a pad, or a PC.
Furthermore, the PCB is also provided with a plurality of module expansion grooves, and the module expansion grooves can be used for loading the environment monitoring module.
Furthermore, be provided with a plurality of fixed orificess on the ya keli board, photosensitive photoelectric tracking module, ultrasonic wave keep away barrier module and long-range picture and pass the module and install on the ya keli board through the fixed orifices.
The technical scheme of the invention has the following beneficial effects:
(1) the engineering trolley for education is easy to program due to various characteristics, can realize multiple functions, is suitable for students of low ages to learn and manufacture, and can also complete simple cargo carrying tasks, indoor visible light positioning, indoor environment monitoring and other functions.
(2) The intelligent environment monitoring system is provided with the Mlun driving module, the infrared photoelectric tracking module, the ultrasonic module, the Bluetooth module and the like, and simultaneously has a plurality of module expansion grooves, so that more environment monitoring modules can be loaded, and the intelligent environment monitoring system has the characteristics of good expansibility, high flexibility and multiple functions. The engineering trolley has the characteristics of electronic building blocks, can support hot plugging of various modules, is complete in modules, and is more suitable for embedded and circuit design entrance education of college students, high school students, junior middle school students and even primary school students.
(3) The engineering trolley can realize the monitoring of the indoor environment through the Bluetooth module, the remote image transmission module and the environment monitoring module, and can be applied to a plurality of occasions such as: when gas or fuel gas leaks from a floor, positioning a leakage source and confirming the fault position of the ventilation pipeline; and determining a fire hazard source in a corridor or a room which is not suitable for people to enter and has more sundries. Through actual test, the sensitivity of the engineering trolley to illumination is extremely high, and indoor illumination positioning can be realized by matching with a PID control algorithm.
(4) The invention adopts a more economical wheat wheel driving design scheme. In the existing scheme, two paths of PWM are mostly used for controlling the forward and reverse rotation of one path of motor, so that the utilization rate of a PWM multiplexing port is not high, and the I/O resource of a single chip microcomputer is wasted. In order to make the operation of the trolley easier and the cost lower, the invention adopts a scheme that one path of PWM and one direction pin control the positive and negative rotation of the motor: the direction pin generates signals with opposite logic levels through 74LS04, the signals and the input signals jointly determine the rotating direction of the motor, and one PWM only controls the speed of the motor.
Drawings
FIG. 1 is a schematic structural view of an engineering truck according to the present invention;
FIG. 2 is a side view of the engineering truck of the present invention;
FIG. 3 is a top view of the engineering truck of the present invention;
FIG. 4 is a system block frame diagram of the engineering truck of the present invention;
fig. 5 is a motor driving circuit diagram of the engineering trolley.
Description of reference numerals: 1. a vehicle body; 2. a main control MCU; 3. a Bluetooth template; 4. a Mlun drive module; 5. an infrared photoelectric tracking module; 6. a photosensitive photoelectric tracking module; 7. an ultrasonic obstacle avoidance module; 8. a remote graph transmission module; 9. a power supply module; 10. a voltage stabilizing circuit; 11. acrylic plates; 12. a PCB circuit board; 13. a Mecanum wheel; 14. a drive motor; 15. and (4) terminal equipment.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-5, an embedded engineering dolly for education comprises a dolly body 1, a main control MCU 2, a bluetooth module 3, a malen driving module 4, an infrared photoelectric tracking module 5, a photosensitive photoelectric tracking module 6, an ultrasonic obstacle avoidance module 7, a remote image transmission module 8 and a power supply module 9, wherein the power supply module 9 supplies power to the whole engineering dolly through a voltage stabilizing circuit 10; two Mecanum wheels 13 are respectively arranged on two sides of the vehicle body 1; the vehicle body 1 is divided into a top layer and a bottom layer, the top layer adopts an acrylic plate 11, and a photosensitive photoelectric tracking module 6, an ultrasonic obstacle avoidance module 7 and a remote image transmission module 8 are fixedly arranged on the acrylic plate 11; the bottom layer is provided with a PCB (printed circuit board) 12, the PCB 12 is integrated with a plurality of slots for inserting the master control MCU 2, the Bluetooth module 3, the infrared photoelectric tracking module 5 and the Mlun driving module 4, and chips of the master control MCU 2, the Bluetooth module 3, the infrared photoelectric tracking module 5 and the Mlun driving module 4 are inserted in the slots in a direct-insert mode; the Mecanum wheels 13 are respectively connected with a driving motor 14 through a coupling, and the driving motors 14 are connected with the main control MCU 2 through the Mlen driving module 4; the master control MCU 2 is also electrically connected with a Bluetooth module 3, a photosensitive photoelectric tracking module 6, an infrared photoelectric tracking module 5, an ultrasonic obstacle avoidance module 7 and a remote image transmission module 8. The PCB 12 in the invention adopts a master control and drive integrated circuit design, and adopts a direct-insert chip package, so that the master control chip is convenient to replace, the installation of the trolley is extremely simple, only the acrylic plate 11 and the PCB 12 are required to be mutually fixed, and the maintenance is also facilitated.
In this embodiment, infrared photoelectric tracking module 5 is installed at the bottom of the automobile body, infrared photoelectric tracking module 5 includes LM393 voltage comparator and TCRT5000 infrared reflection sensor, LM393 voltage comparator compares TCRT 5000's feedback voltage with threshold voltage to judge dolly operational environment. Through tests, the infrared photoelectric tracking module 5 of the trolley can track the black lines with the line width of 25-43mm, wherein the width of the black lines is optimal if 36 mm.
In this embodiment, the photosensitive photoelectric tracking module 6 is used for acquiring indoor or outdoor illumination intensity, the ADC port of the main control MCU 2 is electrically connected to the photosensitive photoelectric tracking module 6 for acquiring illumination intensity, and the photosensitive photoelectric tracking module 6 and the main control MCU 2 are used in cooperation with each other to realize the tracking of the trolley through a mean filtering algorithm and a PD feedback control algorithm, so as to accurately position the illumination intensity in the indoor environment.
In this embodiment, the ultrasonic obstacle avoidance module 7 may perform ranging in a range of 0 to 180 degrees in front of the vehicle body, the ultrasonic obstacle avoidance module 7 detects an obstacle and transmits obstacle information to the main control MCU 2, and the main control MCU 2 performs path planning through a BUG algorithm.
In the present embodiment, the melon driving module 4 is configured as a driving circuit composed of L293D and 74LS04, and the L293D is used for realizing output control of four-way PWM; the 74LS04 is used as a direction pin to control the running direction of a driving motor, and the Mlen driving module 4 is used for realizing motor control with controllable four ways of directions and controllable speed and realizing the omnidirectional traveling of the Mlen.
In this embodiment, the bluetooth module 3 is used for realizing the interaction between the engineering trolley for education and the terminal device 15, the terminal device 15 obtains the detection information of the engineering trolley for education to the environment through the remote map transmission module 8, and the terminal device 15 can send a control command to the engineering trolley for education to realize remote control.
Preferably, the terminal device 15 includes one or more of a mobile phone, a pad, or a PC.
In this embodiment, the PCB 12 is further provided with a plurality of module expansion slots, and the module expansion slots can be used for loading the environmental monitoring module.
In this embodiment, a plurality of fixing holes are formed in the acrylic plate 11, and the photosensitive photoelectric tracking module 6, the ultrasonic obstacle avoidance module 7, and the remote image transmission module 8 are mounted on the acrylic plate 11 through the fixing holes.
The invention is mainly applied to the primary entrance teaching of the embedded technology, and students can learn the program development of the Arduino embedded system by compiling codes and looking up data. A beginner can learn the control of common device modules such as a motor, a steering engine, ultrasonic waves and the like on the basis of the existing hardware of the trolley; after mastering the use and principle of the relevant modules, students can try to write codes to enable the trolley to complete various functions. The learning mode and the traditional theory and experiment have the advantages that the process of manufacturing the trolley is more interesting compared with a single experiment, the strong learning interest of students can be built, and the learning efficiency is improved.
The invention can be applied to some simple carrying tasks, is more convenient to assemble, easy to program, low in power consumption and strong in cruising ability compared with an industrial carrying robot, and is suitable for being used in daily life occasions such as home houses, offices and the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. An embedded engineering trolley for education is characterized by comprising a trolley body, a main control MCU, a Bluetooth module, a Malen driving module, an infrared photoelectric tracking module, a photosensitive photoelectric tracking module, an ultrasonic obstacle avoidance module, a remote image transmission module and a power supply module, wherein the power supply module supplies power to the whole engineering trolley through a voltage stabilizing circuit; two Mecanum wheels are respectively arranged on two sides of the vehicle body; the car body is divided into a top layer and a bottom layer, the top layer adopts an acrylic plate, and a photosensitive photoelectric tracking module, an ultrasonic obstacle avoidance module and a remote picture transmission module are fixedly arranged on the acrylic plate; the bottom layer is provided with a PCB circuit board, the PCB circuit board is integrated with a plurality of slots for the main control MCU, the Bluetooth module, the infrared photoelectric tracking module and the Mlun driving module to be inserted, and chips of the main control MCU, the Bluetooth module, the infrared photoelectric tracking module and the Mlun driving module are inserted in the slots in a direct insertion mode; the Mecanum wheels are respectively connected with driving motors through couplings, and the driving motors are connected with a main control MCU through a Mlen driving module; the master control MCU is also electrically connected with a Bluetooth module, a photosensitive photoelectric tracking module, an infrared photoelectric tracking module, an ultrasonic obstacle avoidance module and a remote image transmission module.
2. The embedded engineering trolley for education as claimed in claim 1, wherein the infrared photoelectric tracking module is installed at the bottom of the trolley body and comprises an LM393 voltage comparator and a TCRT5000 infrared reflection sensor, the LM393 voltage comparator compares the feedback voltage of the TCRT5000 with a threshold voltage so as to judge the running environment of the trolley.
3. The embedded engineering trolley for education as claimed in claim 1, wherein the photosensitive photoelectric tracking module is used for collecting indoor or outdoor illumination intensity, the ADC port of the main control MCU is electrically connected with the photosensitive photoelectric tracking module to collect illumination intensity, and through a mean filtering algorithm and a PD feedback control algorithm, the photosensitive photoelectric tracking module and the main control MCU are used in cooperation to realize the tracking of the trolley, so that the indoor environment illumination intensity is accurately positioned.
4. The embedded engineering trolley for education as claimed in claim 1, wherein the ultrasonic obstacle avoidance module can perform ranging within a range of 0-180 degrees in front of the trolley body, the ultrasonic obstacle avoidance module detects obstacles and transmits obstacle information to the main control MCU, and the main control MCU performs path planning through a BUG algorithm.
5. The embedded type engineering trolley for education as claimed in claim 1, wherein the malon driving module is configured as a driving circuit composed of L293D and 74LS04, the L293D is used for realizing output control of four-way PWM; the 74LS04 is used as a direction pin to control the running direction of a driving motor, and the Mlen driving module is used for realizing motor control with controllable four ways of directions and controllable speed and realizing the omnidirectional traveling of the Mlen.
6. The embedded type engineering trolley for education as claimed in claim 1, wherein the Bluetooth module is used for realizing interaction between the engineering trolley for education and the terminal device, the terminal device obtains detection information of the engineering trolley for education on the environment through the remote map transmission module, and the terminal device can send a control command to the engineering trolley for education to realize remote control.
7. The embedded educational engineering trolley according to claim 6, wherein the terminal equipment comprises one or more of a mobile phone, a pad or a PC.
8. The embedded type engineering trolley for education as claimed in claim 1, wherein the PCB circuit board is further provided with a plurality of module expansion slots, and the module expansion slots can be loaded with environment monitoring modules.
9. The embedded engineering trolley for education as claimed in claim 1, wherein the acrylic plate is provided with a plurality of fixing holes, and the photosensitive photoelectric tracking module, the ultrasonic obstacle avoidance module and the remote image transmission module are mounted on the acrylic plate through the fixing holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110290259.4A CN112947242A (en) | 2021-03-18 | 2021-03-18 | Embedded engineering dolly for education |
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| CN202110290259.4A CN112947242A (en) | 2021-03-18 | 2021-03-18 | Embedded engineering dolly for education |
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| CN202110290259.4A Pending CN112947242A (en) | 2021-03-18 | 2021-03-18 | Embedded engineering dolly for education |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114038274A (en) * | 2021-11-30 | 2022-02-11 | 广州市黄埔职业技术学校 | PLC intelligence teaching aid |
| CN114832399A (en) * | 2022-05-30 | 2022-08-02 | 徐州木牛流马机器人科技有限公司 | Programmable electronic building block module capable of swiping card |
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Application publication date: 20210611 |