CN203933597U - A kind of four support automatic leveling control circuits - Google Patents
A kind of four support automatic leveling control circuits Download PDFInfo
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- CN203933597U CN203933597U CN201420304487.8U CN201420304487U CN203933597U CN 203933597 U CN203933597 U CN 203933597U CN 201420304487 U CN201420304487 U CN 201420304487U CN 203933597 U CN203933597 U CN 203933597U
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Abstract
The utility model relates to a kind of four support automatic leveling control circuits.The utility model comprises power circuit, attitude measurement circuit, ultrasonic ranging circuit, stepper motor driving circuit, stepping motor circuit and governor circuit.Power circuit, to provide+3.3V of attitude measurement circuit power supply, is given provide+5V of ultrasonic ranging circuit power supply, to provide+3.3V of governor circuit power supply.Attitude measurement circuit provides governor circuit system accekeration and magnitude of angular velocity, ultrasonic ranging circuit provides the terrain clearance value of four supports of governor circuit, governor circuit provides rotation direction and the velocity of rotation control signal of stepper motor driving circuit stepping motor, and stepper motor driving circuit provides the A+A-B+B-four-phase line of stepping motor circuit motor.The leveling system that the utility model not only can be realized based on secondary leveling principle is controlled automatically, and is all better than based on one-time leveling schematic circuit in technical indicator.
Description
Technical field
The utility model belongs to system leveling automatic control technology field, is specifically related to a kind of four support automatic leveling control circuits.
Background technology
Automatic leveling controlling system circuit is to solve one of drop ramp effective means of steadily standing all the time, along with various workbenches are more and more operated in outdoor environment, the uneven workbench that often makes of outdoor terrain can not steadily be placed, and is applied gradually like this based on twice levelling principle four support autocontrol method at steady control field.How being applied to the uneven ground of outdoor environment automatic horizontal control system according to different system leveling strategy exploitations is various, thereby effectively solving the problem of horizontal positioned workbench, is the key of current automatic horizontal control system.In various leveling systems, it is the emphasis of developing at present based on secondary leveling principle automatic horizontal control system, in order to obtain leveling information more accurately, be starved of and use twice leveling method, be that first drop ramp carries out the flexible coarse adjustment of four supports according to height evaluation, realize pre-leveling function in airborne process, then after drop ramp landing, switch to according to attitude angle and carry out the flexible fine tuning of four supports, after twice leveling, can ensure so more precisely and fast stable landing of platform.
The current one-time leveling principle based on attitude angle maturation is applied in automatic horizontal control system, this leveling system adopts A-frame as support, although A-frame can avoid occurring empty pin problem as the leveling system supporting after landing, but because its attitude angle that places one's entire reliance upon is carried out automatic leveling, just can not implementation platform in airborne process the effect of pre-leveling, but can only wait for after platform landing, leveling after landing according to actual attitude angle, just increase so undoubtedly the stable time of leveling, and the precision of leveling also can decline a lot, therefore ground bumped environment more complicated and need to realize fast leveling application scenario lack actual application value.
Summary of the invention
It is a kind of based on twice levelling principle four support automatic control circuit that the purpose of this utility model is to provide, and only uses one-time leveling principle automatic leveling circuit concave and convex plane bad adaptability, leveling cycle length and the not high defect of degree of regulation to external world to overcome.
The utility model comprises power circuit, attitude measurement circuit, ultrasonic ranging circuit, stepper motor driving circuit, stepping motor circuit and governor circuit.
Power circuit comprises connector J1, one-level power conversion chip IC1, secondary power supply conversion chip IC2, diode D1, inductance L 1, three electrochemical capacitor C2, C3 and C5, three ceramic disc capacitor C1, C4 and C6.1 pin of connector J1 connects the arrive+12V of one end of capacitor C 1, and 2 pin connect the other end of capacitor C 1; The positive pole of electrochemical capacitor C2 connects one end of capacitor C 1, and the negative pole of electrochemical capacitor C2 connects the other end of capacitor C 1 to ground; 1 pin of one-level power conversion chip IC1 is input, connects the positive pole of electrochemical capacitor C2, and 3 pin and 5 pin are connected to the negative pole of electrochemical capacitor C2, and 2 pin connect the negative electrode of diode D1, and 4 pin connect the positive pole of electrochemical capacitor C3; The negative electrode of diode D1 is connected to ground; One end of inductance L 1 connects the negative electrode of diode D1, and the other end of inductance L 1 connects the positive pole of electrochemical capacitor C3; The negative pole of electrochemical capacitor C3 is connected to ground; One end of capacitor C 4 connects the arrive+5V of positive pole of electrochemical capacitor C3, and the other end of capacitor C 4 is connected to ground; 3 pin connection+5V of secondary power supply conversion chip IC2,1 pin is connected to ground, and 2 pin connect the positive pole of electrochemical capacitor C5; The minus earth of electrochemical capacitor C5; One end of capacitor C 6 connects the arrive+3.3V of positive pole of electrochemical capacitor C5, and the other end of capacitor C 6 is connected to ground.
Attitude measurement circuit comprises attitude detection chip IC 3, capacitor C 7, C8, resistance R 1, R2, R3.One end connection+3.3V of capacitor C 7, the other end connects ground; One end of 1 pin contact resistance R3 of attitude detection chip IC 3 is to ground, and 6 pin connect XDA end, and 7 pin connect XCL end, 8 pin connection+3.3V, the other end of 9 pin contact resistance R3,12 pin connect INT end, 13 pin connection+3.3V, 18 pin connect one end of capacitor C 8 to ground, and 20 pin connect the other end of capacitor C 8, and 23 pin connect SCL end, 24 pin connect SDA end, arrive+3.3V of one end of one end contact resistance R2 of resistance R 1, the other end of resistance R 1 connects SDA end, and the other end of resistance R 2 connects SCL end.
Ultrasonic ranging circuit comprises capacitor C 9, ultrasonic distance measuring module IC4, IC5, IC6, IC7.One end connection+5V of capacitor C 9, the other end connects ground; 1 pin connection+5V of ultrasonic distance measuring module IC4,2 pin connect Trig1 end, and 3 pin connect Echo1 end, and 4 pin connect ground; 1 pin connection+5V of ultrasonic distance measuring module IC5,2 pin connect Trig2 end, and 3 pin connect Echo2 end, and 4 pin connect ground; 1 pin connection+5V of ultrasonic distance measuring module IC6,2 pin connect Trig3 end, and 3 pin connect Echo3 end, and 4 pin connect ground; 1 pin connection+5V of ultrasonic distance measuring module IC7,2 pin connect Trig4 end, and 3 pin connect Echo4 end, and 4 pin connect ground.
Stepper motor driving circuit comprises capacitor C 10, stepping motor drive plate IC8, IC9, IC10, IC11.One end connection+12V of capacitor C 10, the other end connects ground; 1 pin of stepping motor drive plate IC8 connects CP1+ end, and 2 pin connect 4 pin to ground, and 3 pin connect DIR1+ end, and 7 pin are B1-end, and 8 pin are B1+ end, and 9 pin are A1-end, and 10 pin are A1+ end, and 11 pin connect ground, 12 pin connection+12V; 1 pin of stepping motor drive plate IC9 connects CP2+ end, and 2 pin connect 4 pin to ground, and 3 pin connect DIR2+ end, and 7 pin are B2-end, and 8 pin are B2+ end, and 9 pin are A2-end, and 10 pin are A2+ end, and 11 pin connect ground, 12 pin connection+12V; 1 pin of stepping motor drive plate IC10 connects CP3+ end, and 2 pin connect 4 pin to ground, and 3 pin connect DIR3+ end, and 7 pin are B3-end, and 8 pin are B3+ end, and 9 pin are A3-end, and 10 pin are A3+ end, and 11 pin connect ground, 12 pin connection+12V; 1 pin of stepping motor drive plate IC11 connects CP4+ end, and 2 pin connect 4 pin to ground, and 3 pin connect DIR4+ end, and 7 pin are B4-end, and 8 pin are B4+ end, and 9 pin are A4-end, and 10 pin are A4+ end, and 11 pin connect ground, 12 pin connection+12V.
Stepping motor circuit comprises stepping motor M1, M2, M3, M4.1 pin of stepping motor M1 connects A1+ end, and 2 pin connect A1-end, and 3 pin connect B1+ end, and 4 pin connect B1-end; 1 pin of stepping motor M2 connects A2+ end, and 2 pin connect A2-end, and 3 pin connect B2+ end, and 4 pin connect B2-end; 1 pin of stepping motor M3 connects A3+ end, and 2 pin connect A3-end, and 3 pin connect B3+ end, and 4 pin connect B3-end; 1 pin of stepping motor M4 connects A4+ end, and 2 pin connect A4-end, and 3 pin connect B4+ end, and 4 pin connect B4-end.
Governor circuit comprises main control chip IC12, resistance R 4, R5, R6, R7, R8, capacitor C 11, C12, C13, C14, C15, C16, C17, C18, C19, C20, button K1, crystal oscillator XTAL1, light-emitting diode D2, inductance L 2, connector J2.10 pin of main control chip connect ground, 11 pin connect the arrive+3.3V of one end of capacitor C 11, 12 pin connect one end of crystal oscillator XTAL1, 13 pin connect the other end of crystal oscillator XTAL1, 14 pin are Reset end, 92 pin are Trig1 end, 93 pin are Echo1 end, 95 pin are Trig2 end, 96 pin are Echo2 end, 19 pin connect 20 pin to ground, 21 pin connect one end of capacitor C 16, 22 pin connect one end of capacitor C 17, 67 pin are Trig3 end, 68 pin are Echo3 end, 69 pin are Trig4 end, 70 pin are Echo4 end, 27 pin connect ground, 28 pin connect one end of capacitor C 19, 25 pin are LED end, 23 pin are CP1+ end, 29 pin are DIR1+ end, 24 pin are CP2+ end, 30 pin are DIR2+ end, 63 pin are CP3+ end, 31 pin are DIR3+ end, one end of 37 pin contact resistance R6, 49 pin connect ground, 50 pin connect one end of capacitor C 15, 52 pin are SDA end, 53 pin are SCL end, 72 pin connect 2 pin of connector J2, 76 pin connect 3 pin of connector J2, 74 pin ground connection, 75 pin connect one end of capacitor C 18, one end of 94 pin contact resistance R8, 99 pin connect ground, 100 pin connect one end of capacitor C 20, 64 pin are CP4+ end, 32 pin are DIR4+ end, the other end ground connection of capacitor C 11, one end of capacitor C 12 connects one end of crystal oscillator XTAL1, the other end ground connection of capacitor C 12, one end of capacitor C 13 connects the other end of crystal oscillator XTAL1, the other end ground connection of capacitor C 13, one termination+the 3.3V of resistance R 4, the other end of resistance R 4 connects one end of capacitor C 14, the other end ground connection of capacitor C 14, one end of button K1 connects one end of capacitor C 14 to Reset end, one end of the other end contact resistance R7 of button K1, the other end ground connection of resistance R 7, one end of capacitor C 16 connects one end of inductance L 2 to Vref+, the other end ground connection of capacitor C 16, the other end of inductance L 2 connects the arrive+3.3V of one end of capacitor C 17, the other end ground connection of capacitor C 17, the other end ground connection of capacitor C 19, resistance R 5 one end connection+3.3V, resistance R 5 other ends connect the anode of Light-Emitting Diode D2, and the negative electrode of Light-Emitting Diode connects LED end, the another one point earth of resistance R 6, one end connection+3.3V of capacitor C 15, other end ground connection, 1 pin connection+3.3V of connector J2,4 pin ground connection, one end connection+3.3V of capacitor C 18, the other end ground connection of capacitor C 18, the other end ground connection of resistance R 8, one end connection+3.3V of capacitor C 20, the other end ground connection of capacitor C 20.
One-level power conversion chip IC1 in the utility model adopts the LM2576-5 of NI company, and secondary power supply conversion chip IC2 adopts LM1117-3.3; Attitude detection chip IC 3 adopts the MPU6050 of InvenSense company; Ultrasonic distance measuring module IC4, IC5, IC6, IC7 adopt HC-SR04 ultrasonic distance measuring module; Stepping motor drive plate IC8, IC9, IC10, IC11 adopt 3A single shaft stepping motor drive plate THB7128; Stepping motor M1, M2, M3, M4 adopt 57 through stepping motors; Main control chip IC12 adopts the STM32F103VCT6 of ST company.
The automatic horizontal control system circuit that the utility model adopts secondary leveling principle to form, utilizes the height value that ultrasonic distance measuring module records to carry out automatic leveling for the first time, i.e. coarse adjustment; After dropping to ground, switch to and utilize the attitude angle that attitude measurement module records to carry out automatic leveling for the second time, i.e. fine tuning, can improve the speed that realizes of leveling target so greatly, has also ensured the precision that leveling realizes simultaneously.Circuit considers that motor needs rotating in design, in order to simplify the hardware designs of system, considers and has adopted 57 stepping motors that can realize rotating as the flexible adjustable device of support.
Compared with background technology, the leveling system that this circuit not only can be realized based on secondary leveling principle is controlled automatically, and is all better than based on one-time leveling schematic circuit in technical indicator.
Brief description of the drawings
Fig. 1 is integrated circuit schematic diagram of the present utility model;
Fig. 2 is the power circuit schematic diagram in Fig. 1;
Fig. 3 is the attitude measurement circuit diagram in Fig. 1;
Fig. 4 is the ultrasonic ranging circuit diagram in Fig. 1;
Fig. 5 is the stepper motor driving circuit schematic diagram in Fig. 1;
Fig. 6 is the stepping motor circuit diagram in Fig. 1;
Fig. 7 is the governor circuit schematic diagram in Fig. 1.
Embodiment
The utility model comprises power circuit 1, attitude measurement circuit 2, ultrasonic ranging circuit 3, stepper motor driving circuit 4, stepping motor circuit 5, governor circuit 6.
As shown in Figure 1, power circuit 1 is provided by provide+3.3V of attitude measurement circuit 2 power supply, and provide+5V of ultrasonic ranging circuit 3 power supply is provided, and provide+3.3V of governor circuit 6 power supply is provided.Attitude measurement circuit 2 provides governor circuit 6 system accekeration and magnitude of angular velocities, ultrasonic ranging circuit 3 provides the terrain clearance value of 6 four supports of governor circuit, governor circuit 6 provides rotation direction and the velocity of rotation control signal of stepper motor driving circuit 4 stepping motors, and stepper motor driving circuit 4 provides the A+A-B+B-four-phase line of stepping motor circuit 5 motors.
As shown in Figure 2, power circuit comprises connector J1, one-level power conversion chip IC1, secondary power supply conversion chip IC2, diode D1, inductance L 1, three electrochemical capacitor C2, C3 and C5, three ceramic disc capacitor C1, C4 and C6.Wherein one-level power conversion chip IC1 adopts the LM2576-5 of NI company, and secondary power supply conversion chip IC2 adopts LM1117-3.3.
1 pin of connector J1 connects the arrive+12V of one end of capacitor C 1, and 2 pin connect the other end of capacitor C 1; The positive pole of electrochemical capacitor C2 connects one end of capacitor C 1, and the negative pole of electrochemical capacitor C2 connects the other end of capacitor C 1 to ground; 1 pin of one-level power conversion chip IC1 is input, connects the positive pole of electrochemical capacitor C2, and 3 pin and 5 pin are connected to the negative pole of electrochemical capacitor C2, and 2 pin connect the negative electrode of diode D1, and 4 pin connect the positive pole of electrochemical capacitor C3; The negative electrode of diode D1 is connected to ground; One end of inductance L 1 connects the negative electrode of diode D1, and the other end of inductance L 1 connects the positive pole of electrochemical capacitor C3; The negative pole of electrochemical capacitor C3 is connected to ground; One end of capacitor C 4 connects the arrive+5V of positive pole of electrochemical capacitor C3, and the other end of capacitor C 4 is connected to ground; 3 pin connection+5V of secondary power supply conversion chip IC2,1 pin is connected to ground, and 2 pin connect the positive pole of electrochemical capacitor C5; The minus earth of electrochemical capacitor C5; One end of capacitor C 6 connects the arrive+3.3V of positive pole of electrochemical capacitor C5, and the other end of capacitor C 6 is connected to ground.
As shown in Figure 3, attitude measurement circuit comprises attitude detection chip IC 3, capacitor C 7, C8, resistance R 1, R2, R3.Wherein attitude detection chip IC 3 adopts the MPU6050 of InvenSense company.
One end connection+3.3V of capacitor C 7, the other end connects ground; One end of 1 pin contact resistance R3 of attitude detection chip IC 3 is to ground, and 6 pin connect XDA end, and 7 pin connect XCL end, 8 pin connection+3.3V, the other end of 9 pin contact resistance R3,12 pin connect INT end, 13 pin connection+3.3V, 18 pin connect one end of capacitor C 8 to ground, and 20 pin connect the other end of capacitor C 8, and 23 pin connect SCL end, 24 pin connect SDA end, arrive+3.3V of one end of one end contact resistance R2 of resistance R 1, the other end SDA of resistance R 1, the other end of resistance R 2 connects SCL.
As shown in Figure 4, ultrasonic ranging circuit comprises capacitor C 9, ultrasonic distance measuring module IC4, IC5, IC6, IC7.Wherein ultrasonic distance measuring module IC4, IC5, IC6, IC7 adopt HC-SR04 ultrasonic distance measuring module.
One end connection+5V of capacitor C 9, the other end connects ground; 1 pin connection+5V of ultrasonic distance measuring module IC4,2 pin connect Trig1, and 3 pin connect Echo1, and 4 pin connect ground; 1 pin connection+5V of ultrasonic distance measuring module IC5,2 pin connect Trig2, and 3 pin connect Echo2, and 4 pin connect ground; 1 pin connection+5V of ultrasonic distance measuring module IC6,2 pin connect Trig3, and 3 pin connect Echo3, and 4 pin connect ground; 1 pin connection+5V of ultrasonic distance measuring module IC7,2 pin connect Trig4, and 3 pin connect Echo4, and 4 pin connect ground.
As shown in Figure 5, stepper motor driving circuit comprises capacitor C 10, stepping motor drive plate IC8, IC9, IC10, IC11.Wherein stepping motor drive plate IC8, IC9, IC10, IC11 adopt 3A single shaft stepping motor drive plate THB7128.
One end connection+12V of capacitor C 10, the other end connects ground; 1 pin of stepping motor drive plate IC8 connects CP1+, and 2 pin connect 4 pin to ground, and 3 pin connect DIR1+, and 7 pin connect B1-, and 8 pin connect B1+, and 9 pin connect A1-, and 10 pin connect A1+, and 11 pin connect ground, 12 pin connection+12V; 1 pin of stepping motor drive plate IC9 connects CP2+, and 2 pin connect 4 pin to ground, and 3 pin connect DIR2+, and 7 pin connect B2-, and 8 pin connect B2+, and 9 pin connect A2-, and 10 pin connect A2+, and 11 pin connect ground, 12 pin connection+12V; 1 pin of stepping motor drive plate IC10 connects CP3+, and 2 pin connect 4 pin to ground, and 3 pin connect DIR3+, and 7 pin connect B3-, and 8 pin connect B3+, and 9 pin connect A3-, and 10 pin connect A3+, and 11 pin connect ground, 12 pin connection+12V; 1 pin of stepping motor drive plate IC11 connects CP4+, and 2 pin connect 4 pin to ground, and 3 pin connect DIR4+, and 7 pin connect B4-, and 8 pin connect B4+, and 9 pin connect A4-, and 10 pin connect A4+, and 11 pin connect ground, 12 pin connection+12V.
As shown in Figure 6, stepping motor circuit comprises stepping motor M1, M2, M3, M4.Wherein stepping motor M1, M2, M3, M4 adopt 57 through stepping motors.
1 pin of stepping motor M1 connects A1+, and 2 pin connect A1-, and 3 pin connect B1+, and 4 pin connect B1-; 1 pin of stepping motor M2 connects A2+, and 2 pin connect A2-, and 3 pin connect B2+, and 4 pin connect B2-; 1 pin of stepping motor M3 connects A3+, and 2 pin connect A3-, and 3 pin connect B3+, and 4 pin connect B3-; 1 pin of stepping motor M4 connects A4+, and 2 pin connect A4-, and 3 pin connect B4+, and 4 pin connect B4-.
As shown in Figure 7, governor circuit comprises main control chip IC12, resistance R 4, R5, R6, R7, R8, capacitor C 11, C12, C13, C14, C15, C16, C17, C18, C19, C20, button K1, crystal oscillator XTAL1, light-emitting diode D2, inductance L 2, connector J2.Wherein main control chip IC12 adopts the STM32F103VCT6 of ST company.
10 pin of main control chip IC12 connect ground, 11 pin connect the arrive+3.3V of one end of capacitor C 11, 12 pin connect one end of crystal oscillator XTAL1, 13 pin connect the other end of crystal oscillator XTAL1, 14 pin connect Reset end, 92 pin connect Trig1 end, 93 pin connect Echo1 end, 95 pin connect Trig2 end, 96 pin connect Echo2 end, 19 pin connect 20 pin to ground, 21 pin connect one end of capacitor C 16, 22 pin connect one end of capacitor C 17, 67 pin connect Trig3 end, 68 pin connect Echo3 end, 69 pin connect Trig4 end, 70 pin connect Echo4 end, 27 pin connect ground, 28 pin connect one end of capacitor C 19, 25 pin connect LED, 23 pin connect CP1+, 29 pin connect DIR1+, 24 pin connect CP2+, 30 pin connect DIR2+, 63 pin connect CP3+, 31 pin connect DIR3+, one end of 37 pin contact resistance R6, 49 pin connect ground, 50 pin connect one end of capacitor C 15, 52 pin connect SDA end, 53 pin connect SCL end, 72 pin connect 2 pin of connector J2, 76 pin connect 3 pin of connector J2, 74 pin ground connection, 75 pin connect one end of capacitor C 18, one end of 94 pin contact resistance R8, 99 pin connect ground, 100 pin connect one end of capacitor C 20, 64 pin connect CP4+, 32 pin connect DIR4+, the other end ground connection of capacitor C 11, one end of capacitor C 12 connects one end of crystal oscillator XTAL1, the other end ground connection of capacitor C 12, one end of capacitor C 13 connects the other end of crystal oscillator XTAL1, the other end ground connection of capacitor C 13, one termination+the 3.3V of resistance R 4, the other end of resistance R 4 connects one end of capacitor C 14, the other end ground connection of capacitor C 14, one end of button K1 connects one end of capacitor C 14 to Reset, one end of the other end contact resistance R7 of button K1, the other end ground connection of resistance R 7, one end of capacitor C 16 connects one end of inductance L 2 to Vref+, the other end ground connection of capacitor C 16, the other end of inductance L 2 connects the arrive+3.3V of one end of capacitor C 17, the other end ground connection of capacitor C 17, the other end ground connection of capacitor C 19, resistance R 5 one end connection+3.3V, resistance R 5 other ends connect the anode of Light-Emitting Diode D2, and the negative electrode of Light-Emitting Diode connects LED end, the another one point earth of electronics R6, one end connection+3.3V of capacitor C 15, other end ground connection, 1 pin connection+3.3V of connector J2,4 pin ground connection, one end connection+3.3V of capacitor C 18, the other end ground connection of capacitor C 18, the other end ground connection of resistance R 8, one end connection+3.3V of capacitor C 20, the other end ground connection of capacitor C 20.
The utility model can carry in arbitrary data acquisition system or observation platform that possesses airborne condition, in the situation that not knowing outside landform, by the length of automatic adjusting support, can make system stable landing, carry out outdoor environment data acquisition or observation, range accuracy can reach high 3mm, within leveling error can be controlled in 5mm, for leveling system can provide guarantee by stable landing, for the normal work of outdoor data acquisition platform or observation platform provides possibility.
The concrete technical indicator of the present embodiment:
Precision of ultrasonic ranging: 3mm
Motor leveling speed: 400r/min
System leveling error: <5mm.
Claims (1)
1. four support automatic leveling control circuits, comprise power circuit, attitude measurement circuit, ultrasonic ranging circuit, stepper motor driving circuit, stepping motor circuit and governor circuit, it is characterized in that:
Power circuit comprises connector J1, one-level power conversion chip IC1, secondary power supply conversion chip IC2, diode D1, inductance L 1, three electrochemical capacitor C2, C3 and C5, three ceramic disc capacitor C1, C4 and C6; 1 pin of connector J1 connects the arrive+12V of one end of capacitor C 1, and 2 pin connect the other end of capacitor C 1; The positive pole of electrochemical capacitor C2 connects one end of capacitor C 1, and the negative pole of electrochemical capacitor C2 connects the other end of capacitor C 1 to ground; 1 pin of one-level power conversion chip IC1 is input, connects the positive pole of electrochemical capacitor C2, and 3 pin and 5 pin are connected to the negative pole of electrochemical capacitor C2, and 2 pin connect the negative electrode of diode D1, and 4 pin connect the positive pole of electrochemical capacitor C3; The negative electrode of diode D1 is connected to ground; One end of inductance L 1 connects the negative electrode of diode D1, and the other end of inductance L 1 connects the positive pole of electrochemical capacitor C3; The negative pole of electrochemical capacitor C3 is connected to ground; One end of capacitor C 4 connects the arrive+5V of positive pole of electrochemical capacitor C3, and the other end of capacitor C 4 is connected to ground; 3 pin connection+5V of secondary power supply conversion chip IC2,1 pin is connected to ground, and 2 pin connect the positive pole of electrochemical capacitor C5; The minus earth of electrochemical capacitor C5; One end of capacitor C 6 connects the arrive+3.3V of positive pole of electrochemical capacitor C5, and the other end of capacitor C 6 is connected to ground;
Attitude measurement circuit comprises attitude detection chip IC 3, capacitor C 7, C8, resistance R 1, R2, R3; One end connection+3.3V of capacitor C 7, the other end connects ground; One end of 1 pin contact resistance R3 of attitude detection chip IC 3 is to ground, and 6 pin connect XDA end, and 7 pin connect XCL end, 8 pin connection+3.3V, the other end of 9 pin contact resistance R3,12 pin connect INT end, 13 pin connection+3.3V, 18 pin connect one end of capacitor C 8 to ground, and 20 pin connect the other end of capacitor C 8, and 23 pin connect SCL end, 24 pin connect SDA end, arrive+3.3V of one end of one end contact resistance R2 of resistance R 1, the other end of resistance R 1 connects SDA end, and the other end of resistance R 2 connects SCL end;
Ultrasonic ranging circuit comprises capacitor C 9, ultrasonic distance measuring module IC4, IC5, IC6, IC7; One end connection+5V of capacitor C 9, the other end connects ground; 1 pin connection+5V of ultrasonic distance measuring module IC4,2 pin connect Trig1 end, and 3 pin connect Echo1 end, and 4 pin connect ground; 1 pin connection+5V of ultrasonic distance measuring module IC5,2 pin connect Trig2 end, and 3 pin connect Echo2 end, and 4 pin connect ground; 1 pin connection+5V of ultrasonic distance measuring module IC6,2 pin connect Trig3 end, and 3 pin connect Echo3 end, and 4 pin connect ground; 1 pin connection+5V of ultrasonic distance measuring module IC7,2 pin connect Trig4 end, and 3 pin connect Echo4 end, and 4 pin connect ground;
Stepper motor driving circuit comprises capacitor C 10, stepping motor drive plate IC8, IC9, IC10, IC11; One end connection+12V of capacitor C 10, the other end connects ground; 1 pin of stepping motor drive plate IC8 connects CP1+ end, and 2 pin connect 4 pin to ground, and 3 pin connect DIR1+ end, and 7 pin are B1-end, and 8 pin are B1+ end, and 9 pin are A1-end, and 10 pin are A1+ end, and 11 pin connect ground, 12 pin connection+12V; 1 pin of stepping motor drive plate IC9 connects CP2+ end, and 2 pin connect 4 pin to ground, and 3 pin connect DIR2+ end, and 7 pin are B2-end, and 8 pin are B2+ end, and 9 pin are A2-end, and 10 pin are A2+ end, and 11 pin connect ground, 12 pin connection+12V; 1 pin of stepping motor drive plate IC10 connects CP3+ end, and 2 pin connect 4 pin to ground, and 3 pin connect DIR3+ end, and 7 pin are B3-end, and 8 pin are B3+ end, and 9 pin are A3-end, and 10 pin are A3+ end, and 11 pin connect ground, 12 pin connection+12V; 1 pin of stepping motor drive plate IC11 connects CP4+ end, and 2 pin connect 4 pin to ground, and 3 pin connect DIR4+ end, and 7 pin are B4-end, and 8 pin are B4+ end, and 9 pin are A4-end, and 10 pin are A4+ end, and 11 pin connect ground, 12 pin connection+12V;
Stepping motor circuit comprises stepping motor M1, M2, M3, M4; 1 pin of stepping motor M1 connects A1+ end, and 2 pin connect A1-end, and 3 pin connect B1+ end, and 4 pin connect B1-end; 1 pin of stepping motor M2 connects A2+ end, and 2 pin connect A2-end, and 3 pin connect B2+ end, and 4 pin connect B2-end; 1 pin of stepping motor M3 connects A3+ end, and 2 pin connect A3-end, and 3 pin connect B3+ end, and 4 pin connect B3-end; 1 pin of stepping motor M4 connects A4+ end, and 2 pin connect A4-end, and 3 pin connect B4+ end, and 4 pin connect B4-end;
Governor circuit comprises main control chip IC12, resistance R 4, R5, R6, R7, R8, capacitor C 11, C12, C13, C14, C15, C16, C17, C18, C19, C20, button K1, crystal oscillator XTAL1, light-emitting diode D2, inductance L 2, connector J2, 10 pin of main control chip connect ground, 11 pin connect the arrive+3.3V of one end of capacitor C 11, 12 pin connect one end of crystal oscillator XTAL1, 13 pin connect the other end of crystal oscillator XTAL1, 14 pin are Reset end, 92 pin are Trig1 end, 93 pin are Echo1 end, 95 pin are Trig2 end, 96 pin are Echo2 end, 19 pin connect 20 pin to ground, 21 pin connect one end of capacitor C 16, 22 pin connect one end of capacitor C 17, 67 pin are Trig3 end, 68 pin are Echo3 end, 69 pin are Trig4 end, 70 pin are Echo4 end, 27 pin connect ground, 28 pin connect one end of capacitor C 19, 25 pin are LED end, 23 pin are CP1+ end, 29 pin are DIR1+ end, 24 pin are CP2+ end, 30 pin are DIR2+ end, 63 pin are CP3+ end, 31 pin are DIR3+ end, one end of 37 pin contact resistance R6, 49 pin connect ground, 50 pin connect one end of capacitor C 15, 52 pin are SDA end, 53 pin are SCL end, 72 pin connect 2 pin of connector J2, 76 pin connect 3 pin of connector J2, 74 pin ground connection, 75 pin connect one end of capacitor C 18, one end of 94 pin contact resistance R8, 99 pin connect ground, 100 pin connect one end of capacitor C 20, 64 pin are CP4+ end, 32 pin are DIR4+ end, the other end ground connection of capacitor C 11, one end of capacitor C 12 connects one end of crystal oscillator XTAL1, the other end ground connection of capacitor C 12, one end of capacitor C 13 connects the other end of crystal oscillator XTAL1, the other end ground connection of capacitor C 13, one termination+the 3.3V of resistance R 4, the other end of resistance R 4 connects one end of capacitor C 14, the other end ground connection of capacitor C 14, one end of button K1 connects one end of capacitor C 14 to Reset end, one end of the other end contact resistance R7 of button K1, the other end ground connection of resistance R 7, one end of capacitor C 16 connects one end of inductance L 2 to Vref+, the other end ground connection of capacitor C 16, the other end of inductance L 2 connects the arrive+3.3V of one end of capacitor C 17, the other end ground connection of capacitor C 17, the other end ground connection of capacitor C 19, resistance R 5 one end connection+3.3V, resistance R 5 other ends connect the anode of Light-Emitting Diode D2, and the negative electrode of Light-Emitting Diode connects LED end, the another one point earth of resistance R 6, one end connection+3.3V of capacitor C 15, other end ground connection, 1 pin connection+3.3V of connector J2,4 pin ground connection, one end connection+3.3V of capacitor C 18, the other end ground connection of capacitor C 18, the other end ground connection of resistance R 8, one end connection+3.3V of capacitor C 20, the other end ground connection of capacitor C 20,
Described one-level power conversion chip IC1 adopts the LM2576-5 of NI company, and secondary power supply conversion chip IC2 adopts LM1117-3.3; Attitude detection chip IC 3 adopts the MPU6050 of InvenSense company; Ultrasonic distance measuring module IC4, IC5, IC6, IC7 adopt HC-SR04 ultrasonic distance measuring module; Stepping motor drive plate IC8, IC9, IC10, IC11 adopt 3A single shaft stepping motor drive plate THB7128; Stepping motor M1, M2, M3, M4 adopt 57 through stepping motors; Main control chip IC12 adopts the STM32F103VCT6 of ST company.
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