CN206178471U

CN206178471U - Robot removes obstacles

Info

Publication number: CN206178471U
Application number: CN201621089469.8U
Authority: CN
Inventors: 孙亮; 任崇广
Original assignee: Shandong Fu Yue Electric Co Ltd
Current assignee: Shandong Fu Yue Electric Co Ltd
Priority date: 2016-09-29
Filing date: 2016-09-29
Publication date: 2017-05-17
Anticipated expiration: 2026-09-29

Abstract

The utility model provides a robot removes obstacles, this robot use STM32F103VET6 as control core, and be aided with the intelligence that TB6612FNG motor driver module had realized the device and go, by the long -range artifical telerobot of radio frequency technology, handling robot's the stroke or the route of removing obstacles. The robot has the encoder device, forms closed -loop control with motor -drive circuit, but the driving of effective control robot. Robot self has the acousto -optic warning module, can trigger acousto -optic warning when breaking down. Furthermore, the utility model discloses concentrate and optimized the bulk supply circuit to to promote voltage stability be the purpose, combine each worker module power consumption requirement design voltage stabilizing circuit, thereby guaranteed the stability that the robot moved. Software part adopts the C programming with pascal language, and hardware design and design of software combine together, function such as can realize that remote control, automatic correction of, automation are removed obstacles. Entire system design is dexterous, the algorithm is reasonable, control is accurate, function that realization intelligence that can be fine was removed obstacles.

Description

A kind of obstacle removing robot

Technical field

This utility model is related to robotics, further to the control and power supply of robot, and in particular to one Plant obstacle removing robot.

Background technology

Robot (Robot) is the installations for performing work automatically.It can both receive mankind commander, can run again The program of layout in advance, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take For the work of human work, for example, produce industry, building industry, or the work of danger.From the 60 to 70's of last century, machine The research of device people begins to receive publicity, recently as developing rapidly for radio communication and artificial intelligence, robot field's Correlational study also achieves significant progress, especially those can work in hazardous environment, to artificial intelligence's level requirement compared with Low industrial special robot, has been obtained for being widely applied at present.

Obstacle removing robot is a kind of automatic intelligent equipment for removing obstacles thing, can be in hazardous environment by receiving Remote control commands complete mobile, action of detecting and remove obstacles.Although execution action is relatively easy, can relate in actual applications And many factors such as accuracy, capacity of resisting disturbance, the monitoring alarm of equipment running status, electric power system efficiency of control, because This will obtain precise control, run efficient obstacle removing robot, it is necessary to pay attention in the design phase.Especially in the confession of robot Electric system aspect, because its overall power consumption is not unalterable in run duration, the electric current consumed in the unit interval is sometimes Big sometimes little, the output of battery is certain, so when electric current is big, the output voltage of battery can be reduced, and can be gone out Some fluctuate item, and some circuits higher for power reguirements will be affected, so as to have impact on robot overall operation stream Smooth property.Although can be improved to a certain extent by mu balanced circuit, however, it should be clear that due to different robots With different architectural features, electricity consumption modular circuit feature different in system is different, therefore the design of electric power system should be tied Closing the concrete condition of each module is carried out, and the obstacle removing robot of prior art still has much room for improvement at above-mentioned aspect.

The content of the invention

This utility model aims to the technological deficiency of prior art, there is provided a kind of obstacle removing robot, to solve existing skill The obstacle removing robot electric power system of art is easily caused voltage instability and then affects the computational problem of robot operation stability.

Another technical problem to be solved in the utility model is that the obstacle removing robot precise control of prior art is relatively low.

Another technical problem to be solved in the utility model is that the obstacle removing robot of prior art cannot implementing monitoring device Running status.

Another technical problem to be solved in the utility model is that the obstacle removing robot of prior art is automatic in running Avoidance ability is not good.

To realize above technical purpose, this utility model is employed the following technical solutions：

A kind of obstacle removing robot, including power supply, single chip control module, sound and light alarm module, voltage detection module is infrared Detection module, wireless communication module, motor drive module, LM2596 chips, 78L05 voltage stabilizing chips, LM1117-3.3 voltage stabilizing cores Piece, wherein the power supply is 24V lithium batteries, the outfan of the power supply is connected with the input wire of LM2596 chips, The outfan of LM2596 chips is by two line conductors inputs respectively with 78L05 voltage stabilizing chips, motor drive module circuit Input connects, the outfan of 78L05 voltage stabilizing chips by six line conductors input respectively with LM1117-3.3 voltage stabilizing chips, The input of single chip control module circuit, the input of sound and light alarm module circuit, the input of voltage detection module circuit, The input connection of the input of infrared detection module, fingerprint identification module circuit, motor drive module circuit, LM1117-3.3 voltage stabilizing chips it is defeated Go out end to be connected with the input wire of wireless communication module；Sound and light alarm module, voltage detection module, infrared detection module, fingerprint identification module, nothing Line communication module, motor drive module are communicated to connect respectively with single chip control module.

Preferably, the single chip control module is based on the STM32 series monolithics of ARM7 kernels.

Preferably, the single chip control module is the single-chip microcomputer of model STM32F103VET6.

Preferably, the sound and light alarm module includes a buzzer, a LED, an audion, the first current limliting Resistance, the second current-limiting resistance.

Preferably, the audion is PNP types.

Preferably, the colelctor electrode of the audion is connected with the wire of output terminal of 78L05 voltage stabilizing chips, the base of audion Pole is connected with single chip control module circuit lead, be in series with the first current-limiting resistance on the wire, and the emitter stage of audion passes through One line conductor is grounded via buzzer, and the emitter stage of audion is grounded by another line conductor via LED, and another road is led The second current-limiting resistance is also in series with line.

Preferably, the infrared detection module, fingerprint identification module includes controller and photoswitch, the controller and photoswitch it Between by holding wire connect, be in series with diode on the holding wire.

Preferably, the conducting direction of the diode is to photoswitch by controller.

Preferably, detection of the voltage detection module to supply voltage is first cell output voltage to be converted into into 2.5 The voltage analog signal of~3.6V, then be input to the a/d converter realization of single-chip microcomputer.

Preferably, the wireless communication module is the Monolithic RF transceiver part of model nRF24L01.

In above technical scheme, the motor drive module circuit refers to the in-line power circuit of motor drive module； Sound and light alarm module circuit refers to the in-line power circuit of sound and light alarm module；Voltage detection module circuit refers to voltage detecting mould The in-line power circuit of block；Infrared detection module, fingerprint identification module circuit refers to the in-line power circuit of infrared detection module, fingerprint identification module；Single-chip Controlling mould Block circuit refers to the in-line power circuit of single chip control module；Wireless communication module circuit refers to the inside of wireless communication module Power supply circuits.Wherein the in-line power circuit of motor drive module, the in-line power circuit of sound and light alarm module, voltage detecting mould It is the in-line power circuit of block, the in-line power circuit of infrared detection module, fingerprint identification module, the in-line power circuit of single chip control module, wireless The concrete structure of the in-line power circuit of communication module can combine the reality of each module according to the general technology general knowledge of this area Feature is designed, and the circuit structure provided in this utility model specific embodiment is also can refer to certainly and realizes that this practicality is new Type.

It is the use electrical feature for meeting each module of robot in above technical scheme, have matched three kinds of supply voltages, wirelessly Communication module needs the voltage of 3.3V, motor and its driving to need 12V voltages, and other circuits need the voltage of 5V.So in machine The upper this utility model of the device person devises 3 road Voltage stabilizing modules, the obstructed voltage in 3 tunnels is exported, to meet the electricity consumption need of modules Ask.

First, this utility model adopts the decompression voltage regulator module with LM2596 voltage stabilizing chips as core, by battery Voltage stabilization, to 12V, is that the circuit of the 12V such as Motor drive and motor is powered.This decompression voltage regulator module is more flexible, its Input voltage range has all added filter capacitor in 3~30V being input into and exporting two ends, wherein there is an important electronics unit Device, can play the adjustable effect of output voltage, and he is exactly variable resistance, is called potentiometer, using voltage principle, control Make LM2596 chips and export different voltages.78L05 voltage stabilizing chips, fixed output are given followed by by the control source of 12V 5V voltages.This voltage stabilizing chip is the voltage stabilizing chip of linear voltage stabilization principle, and output current is up to 1.5A, it is sufficient to meet for robot it is each The demand that individual modular circuit is powered.The 5V voltages that it is exported will supply single chip machine controlling circuit, sound light alarming circuit, voltage detecting Circuit, motor-drive circuit etc..78L05 is three-terminal voltage-stabilizing chip, there is three pins, and 1 foot is input voltage, and 2 feet are to be grounded, 3 Foot is output voltage, between input pin and ground, small one and large one filter capacitor is respectively added between output pin and ground, 100uF capacitive filters fall larger clutter, and 104 capacitive filters fall less burr.It is finally the design of 3.3V voltages, 3.3V master If powering to 2.4G radio communication circuits, this utility model adopts LM1117-3.3 linear voltage stabilization chips, by 5V control sources, The voltage of 3.3V is exported Jing after voltage stabilizing chip voltage stabilizing, for the work of 2.4G radio communication circuits.

This utility model provides a kind of obstacle removing robot, and the robot is aided with STM32F103VET6 as control core TB6612FNG motor drive modules realize the intelligence traveling of device, by wireless radio-frequency remote handle teleoperator, behaviour Make the stroke or route of removing obstacles of robot.Robot carries encoder apparatus, and with motor-drive circuit closed loop control is formed, and can have The driving of the control robot of effect.Robot itself carries sound and light alarm module, the meeting when robot Anywhere breaks down Triggering sound and light alarm.On this basis, this utility model centralized optimization bulk supply circuit, with booster tension stability as mesh , mu balanced circuit is devised with reference to the need for electricity of each operational module, so as to ensure that the stability that robot runs.Software control System part is programmed using C language, and hardware designs and software design combine, it is achieved thereby that the Remote of system, automatic school Positive rail, the function such as remove obstacles automatically.Whole system design is dexterous, algorithm is reasonable, precise control, can be good at realizing that intelligence is clear The function of barrier.

Description of the drawings

Fig. 1 is the overall power circuit diagram of the robot of this utility model embodiment 1.

Fig. 2 is the oscillating circuit of the robot minimum system of this utility model embodiment 1.

Fig. 3 is the reset circuit of the robot minimum system of this utility model embodiment 1.

Fig. 4 is the power circuit of the STM32 single-chip microcomputers of the robot of this utility model embodiment 1.

Fig. 5 is the debug circuit of the STM32 single-chip microcomputers of the robot of this utility model embodiment 1.

Fig. 6 is the sound and light alarm module circuit diagram of the robot of this utility model embodiment 1.

Fig. 7 be the robot of this utility model embodiment 1 infrared detection module, fingerprint identification module in the connection of controller and photoswitch close System's figure.

Fig. 8 be the robot of this utility model embodiment 1 infrared detection module, fingerprint identification module in photoswitch internal circuit diagram.

Fig. 9 be the robot of this utility model embodiment 1 spray cultivation module in electric water pump drive circuit figure.

Figure 10 be the robot of this utility model embodiment 1 voltage detection module in voltage signal change-over circuit figure.

Figure 11 is the Remote software flow chart of the robot of this utility model embodiment 1.

Figure 12 is the robot overall operation model process figure of this utility model embodiment 1.

Specific embodiment

Hereinafter specific embodiment of the present utility model will be described in detail.In order to avoid excessive unnecessary thin Section, will not be described in detail in the examples below to belonging to known structure or function.Used in following examples Approximating language can be used for quantitative expression, show that quantity can be allowed to have certain variation in the case where basic function is not changed. In addition to being defined, technology used and scientific terminology have general with this utility model one of ordinary skill in the art in following examples All over the identical meanings for understanding.

Embodiment 1

A kind of weeding-type obstacle removing robot of disclosure of the present embodiment system.

1st, system hardware master-plan

Weed-eradicating robot is totally divided into two parts, and one is Digiplex, and two is intelligent weed-eradicating robot.First, wirelessly Remote control by：Keyboard surface sweeping input, 2.4G wireless signal transmissions, power supply voltage stabilizing, Single-chip Controlling, sound and light alarm, voltage detecting Deng module composition；Secondly intelligent weed-eradicating robot includes intelligent vehicle domain (comprising motor and tire), drive circuit, single-chip microcomputer The module compositions such as control, power supply voltage stabilizing, voltage detecting, sound and light alarm, infrared detection, the communication of 2.4 wireless serials and spray cultivation.

Each button of Digiplex using single chip machine controlling circuit ceaselessly on surface sweeping keyboard, if button is pressed Under, single-chip microcomputer can be detected, and can recognize it is actually which button is pressed, and then corresponding key value is sent to into monolithic Machine, Jing after single-chip microcomputer process, is sent to 2.4G wireless serial communication modules, by it by user to intelligent machine by the information after process The various operations of device people are sent to robot itself, perform corresponding operation.

Intelligent weed-eradicating robot is then ceaselessly to receive remote control by Single-chip Controlling 2.4G wireless serial communication module The information for sending, if having information, just returns to single-chip microcomputer by information, is recognized by single-chip microcomputer and is processed, the process of Jing single-chip microcomputers Afterwards, according to different orders, different operations are made.The track route of intelligent robot can be controlled, including all around with And brake etc. function, be by Single-chip Controlling motor-drive circuit control then each motor rotating realize.Can be with Whether control weeding module works, and is realized by controlling the motor of weeding module.Weeding module spray can be controlled Direction, is realized by singlechip controller control machinery hand.Robot its cells electricity automatic detection can be realized, if Operationally battery electric quantity is too low, has sound and light alarm, to show that staff should not continue operation robot, should sail power station and When give robot battery charge.

2nd, the design details of each hardware module of system

The design of 2.1 power regulator modules

When battery is powered for robot, because the overall power consumption of extremely people is not unalterable, list in run duration The electric current consumed in the time of position is sometimes big sometimes little, and the output of battery is certain, so when electric current is big, battery Output voltage can reduce, item some burrs can be gone out, some circuits higher for power reguirements will be affected.In order to protect Card robot overall operation is smooth, so having to plus various filter circuit of pressure-stabilizing.Burning voltage eliminates clutter or burr.

Remote control part：

Using 4 No. 7 AAA dry cell power supplies of section, 4 section aneroid battery series voltages are 1.2*4=4.8V to remote control.This practicality is new The running voltage of type 2.4G wireless serial communication module is 3.3V, and the supply voltage of the ARM controller of employing is also 3.3V, therefore distant The core voltage of control device will be stablized in 3.3V or so.

This utility model 3.3V voltage stabilizing chips of model AMS1117-3.3, plus filter rectifier, are whole remote control Device circuit provides the burning voltage of 3.3V.

AMS1117-3.3 basic parameters：

1st, absolute maximum rating：

Working junction temperature scope：- 40~125 DEG C.

Input voltage：15V.

Welding temperature (25 seconds)：265℃.

Storage temperature：- 65~150 DEG C.

2nd, electrical characteristic：

Output voltage：3.267~3.333V (0<=IOUT<=1A, 4.75V<=VIN<=12V).

Line adjustment (maximum)：10mV(4.75V<=VIN<=12V).

Load regulation (maximum)：15mV (VIN=5V, 0<=IOUT<=1A).

Voltage difference (maximum)：1.3V.

Current limit：900~1500mA.

Quiescent current (maximum)：10mA.

Ripple Suppression (minimum)：60dB.

Robot part：

The supply voltage of robot part has 3 kinds, and wireless serial communication and controller need the voltage of 3.3V, motor and its Driving needs 12V voltages, and other circuits need the voltage of 5V.So this utility model devises 3 tunnel voltage stabilizings with robot Module, exports the obstructed voltage in 3 tunnels, to meet the need for electricity of modules.

First, this utility model adopts the decompression voltage regulator module with LM2596 voltage stabilizing chips as core, by battery Voltage stabilization, to 12V, is that the circuit of the 12V such as Motor drive and motor is powered.This decompression voltage regulator module is more flexible, its Input voltage range has all added filter capacitor in 3~30V being input into and exporting two ends, wherein there is an important electronics unit Device, can play the adjustable effect of output voltage, and he is exactly variable resistance, is called potentiometer, using voltage principle, control Make LM2596 chips and export different voltages.

78L05 voltage stabilizing chips, fixed output 5V voltages are given followed by by the control source of 12V.This voltage stabilizing chip is line The voltage stabilizing chip of property principle of stabilized voltage, output current is up to 1.5A, it is sufficient to meet the demand powered for robot modules circuit. The 5V voltages that it is exported will supply single chip machine controlling circuit, sound light alarming circuit, voltage detecting circuit, motor-drive circuit etc..

78L05 is three-terminal voltage-stabilizing chip, there is three pins, and 1 foot is input voltage, and 2 feet are ground connection, and 3 feet are output voltage, Between input pin and ground, respectively add small one and large one filter capacitor between output pin and ground, 100uF capacitive filters fall compared with Big clutter, 104 capacitive filters fall less burr.

It is finally the design of 3.3V voltages, 3.3V mainly powers to 2.4G radio communication circuits, and this utility model is adopted LM1117-3.3 linear voltage stabilization chips, by 5V control sources, the voltage of 3.3V are exported Jing after voltage stabilizing chip voltage stabilizing, wireless for 2.4G Telecommunication circuit works.

LM1117-3.3 is also three-terminal voltage-stabilizing as 78L05, and simply the function of each pin is slightly distinguished, and is respectively 1 Foot is ground connection, the output of 2 feet, the input of 3 feet.

Its overall power circuit is as shown in Figure 1.

The design of 2.2 single chip control module

The circuit of this intelligent weed-eradicating robot is using the circuit design of digital programmable, robot part and remote control Device part is all as respective " brain " using the single-chip microcomputer of 32.The reception signal of each sensor is collected by him, according to corresponding Logic send various orders or instruction, control modules and perform different actions, coordinate each module and complete intelligence jointly The function of weeding.

2.2.1 robotic end

The controller or perhaps processor of robot, this utility model is single using the STM32 series based on ARM7 kernels Used as the master controller of robot, concrete model is STM32F103VET6 to piece machine, and the controller is the processor of 32, is had 100 pins.

2.2.2 remote control end

The CPU at remote control end is equally to adopt STM32 single-chip microcomputers, except for the difference that the quantity of the pin of remote control end single-chip microcomputer Point fewer than robotic end, its single-chip microcomputer is using the STM32F103C8T6 of 46 number of pins.Because, the circuit of remote control than The circuit of robot is simply more, only one of which keyboard surface sweeping circuit, a unlimited serial communication circuit of 2.4G and a battery 3 circuits of electric power detection come by Single-chip Controlling, and the single-chip microcomputer with 46 pins is enough, and although this single-chip microcomputer compares robot Pin number it is many less, but what its function and speed were just as.

2.2.3 specification

STM32F103x enhancement mode series uses high performanceCortex^TMThe RISC core that-M3 is 32, work Frequency is 72MHz, internal high-speed memories (the up to SRAM of the flash memory of 512K bytes and 64K bytes), abundant enhancing I/O ends Mouth and the peripheral hardware for being connected to two APB buses.ADC comprising 3 12,4 general 16 bit timing devices and 2 PWM intervalometers, Also comprising standard and advanced communication interface：Up to 2 I2C interfaces, 3 SPI interfaces, 2 I2S interfaces, 1 SDIO interface, 5 Individual USART interfaces, a USB interface and a CAN interface.

STM32F103xx Large Copacity enhancement mode series of tasks is in -40 DEG C to+105 DEG C of temperature range, supply voltage 2.0V To 3.6V, a series of battery saving mode ensures the requirement of low-power consumption application.STM32F103xx Large Copacity enhancement mode series of products are carried For including 6 kinds of different packing forms from 64 feet to 144 feet；According to different packing forms, the peripheral configuration in device is not to the utmost It is identical.

2.2.4 minimum system

The single processor chips of only one of which are cisco unity malfunctions, it is necessary to have peripheral drive circuit, so Processor chips just constitute the minimum system of robot control module plus peripheral drive circuit.The minimum system of the robot System, whether robotic end or remote control end, what its composition was just as, be all with STM32 single-chip microcomputers as core, it is in addition electric The circuits such as source circuit, crystal oscillator oscillating circuit, reset circuit, program burn writing and debugging constitute the minimum system of controller of robot System.So it can just control robot and complete work.The oscillating circuit of minimum system as shown in Fig. 2 its reset circuit such as Shown in Fig. 3.

Reset circuit：

The reset circuit has electrification reset and button to reset, and electrification reset is that chip is carried out once again when electricity is just gone up Position, the purpose of reset is that the program pointer allowed in chip is returned where program starts, rerun routine；Button resets The extraneous artificial operation for making chip once be resetted.

The reset of STM32 single-chip microcomputers is that low level resets, i.e., the chip when level on RESET pins is low level Resetted.When minimum system just goes up electricity in a flash, states of the electric capacity C2 in charging is considered as the wire of a conducting, institute It is pulled low with reset pin RESET, promotes single-chip microcomputer once to be resetted；When electric capacity C2 two battery lead plates full of electric charge it Afterwards, it is considered as an open circuit, it is high level that reset pin is pulled up circuit pull-up, now single-chip microcomputer initially enters the shape of normal work State.Button reset principle is fairly simple, is exactly, by a touch key, reset pin to be connected with ground, when button is pressed When, reset pin is shorted as low level, and chip reset is once.

Power circuit：

STM32 single-chip microcomputers are the chips that 3.3V powers, therefore need to provide it with the stable voltage of 3.3V, this utility model Using REG1117-3.3V linear voltage stabilization chips, by the voltage for being input into 5V, the filter rectification electric capacity of input and output is added, exported The supply voltage of one highly stable 3.3V, after having a stable voltage, STM32 minimum systems could be more preferably more stable Program of the present utility model is more accurately performed, weeding function of the present utility model is completed.Its circuit is as shown in Figure 4.

SWD debug circuits：

STM32 supports on-line debugging function, and this is just much better than traditional single-chip microcomputer, unusual when debugging routine It is convenient.Fig. 5 is the debug circuit of SWD modes, and also the download or programming of support program.There is this to download debug circuit, only 4 are needed with wire, can just complete debugging and the download function of code of the present utility model.In circuit, No. 1 wire be power supply just Pole (3.3V), No. 4 wires are negative pole (ground connection), and No. 2 No. 3 is respectively signal bus (SWDIO) and clock bus (SWDCLK), is believed Number bus is connected to the pull-up resistor of 10K ohms, and clock bus are connected to the pull down resistor of 10K ohms.

The minimum system of this utility model designed, designed is drawn all of pin using contact pin, can very easily be answered For system can module debugging.Each pin except with basic I O function, outside also have a lot of 2nd the 3rd functions, Such as A/D, D/A converter, SPI, IIC, USB, CAN, USART bus, PWM outputs etc..

The design of 2.3 sound and light alarm modules

Sound light alarming circuit is used for when robot occurs some failures or special circumstances, starts to warn staff to do It is corresponding to process work.Such as, robot when the electricity of battery is too low, starts and reports to the police in operation weeding process, informs work Personnel stop the work of robot, lose no time to be charged to robot battery, and otherwise robot can be too low out of service because of electricity, it will Stop in the electric field.

The sound light alarming circuit is fairly simple, there is a buzzer (5V), LED (2-3V), an audion (PNP) With two current-limiting resistance compositions.In 5V or so, STM32 single-chip microcomputers of the present utility model are to have no ability to the running voltage of buzzer Direct drive its, so to add an audion, play amplification electric current and voltage, and the confession of light emitting diode (LED) Piezoelectric voltage cannot be below 3V, otherwise can burn out because voltage x current is excessive, so this utility model will add a current-limiting resistance.Three Pole pipe is PNP types, when base stage (Port feet) low level, triode ON, electric current by VCC Jing audions colelctor electrode stream Enter, emitter stage flows out, be buzzer and light emitting diode (LED) power supply, now buzzer can sound, and LED can flash, as honeybee The frequency and the frequency of LED flickers that ring device sounds is controlled by the program of this utility model single-chip microcomputer.Conversely, Port is height During level, audion is to disconnect, and buzzer and LED do not work.Sound and light alarm module circuit is as shown in Figure 6.

Sound light alarming circuit respectively has one in robotic end and remote control end.

The design of 2.4 infrared detections and the module that keeps in obscurity

When staff's remote control control robot ride or work, unavoidably can because staff do not note or Carelessness, and cause robot to bump against (such as wall, stone etc.) on some things, the infrared module that keeps in obscurity is exactly to prevent machine People meets in the process of moving some barriers, and in the case of robot is unwitting in staff the attached of barrier is driven to When near, detected by the sensor of the infrared module that keeps in obscurity, output signal to controller, judged by controller, automatically stop machine The traveling of device people simultaneously triggers sound and light alarm module, to warn staff's control robot cut-through thing.

This utility model respectively placed an infrared module that keeps in obscurity and (establishes by cable also known as infrared light in the front and back of robot Close).Than larger, between 10~30V, this utility model is by the way of 12V's supply district of this photoswitch powers.Mould Block has 3 wires, is respectively VCC, GND and holding wire, and when there is barrier, module exports a low level, and normal condition is output High level.Power due to using 12V, the output of its signal is also the voltage of 12V, this voltage be sent to controller be can not Directly receive, the diode of model IN4007 is with the addition of on holding wire in this this utility model, using diode Unilateral conduction is directly fed to controller come the voltage for avoiding 12V, concrete as shown in Figure 7.

Photoswitch belongs to the normally opened types of NPN, i.e., export high level when without barrier, and low electricity is exported when having barrier It is flat.This utility model is arranged to the corresponding reception pin of controller to pull up input pattern, when not having barrier, there is two poles The unilateral conduction of pipe, the high level of 12V is blocked, and controller pin is the high level of the 3.3V of acquiescence, when there is barrier, Output low level model, now diode is the state of conducting, and the pin of controller is pulled low, and controller has read a low electricity Flat signal.

In addition, place powder charge bucket below placed an infrared detection sensor (be slightly different from the infrared module that keeps in obscurity, But principle is identical).The module also has 3 pins, is equally respectively VCC, GND and holding wire, and except for the difference that it only needs to 5V confessions Electricity can normal work, its output signal is also compatible with the input signal in controller, so its holding wire can be directly connected to On the corresponding pin of singlechip controller.

The sensor is whether to have placed bucket before detection robot operation spray.If staff will open spray Medicine, if bucket is out of place, electric water pump is extracted less than liquid, is unfavorable for the life-span of electric water pump.So, this utility model Needs detect whether to place powder charge bucket, if do not put well, are detected by infrared sensor, output signal to control Water pump is arranged to disabled state by device, controller, even if at this moment staff is opened by remote control control and sprays, water pump is not yet Meeting work, so ensure that the service life of electric water pump significantly.

Both the above sensor, whether photoswitch or infrared sensor, their operation principle be it is the same, all It is to be made up of an infrared transmitting tube and an infrared receiving tube, when there is barrier, tube-launched infrared ray is reflected Return, received by reception pipe, infrared receiving tube is an audion, as shown in figure 8, when infrared audion receives infrared ray, Triode ON, No. 2 No. 3 pins of comparator are all pulled low, therefore 1 foot output low level.Conversely, without barrier, audion Infrared ray is not received, No. 3 pins are driven high, the 1 foot output high level of comparator.

The design of 2.5 spray cultivation modules

The weeding module of weed-eradicating robot of the present utility model is the mode for adopting sprinkling herbicide with removing for reaching The purpose of grass.

The bucket of 2L is carried in robot car, for being mounted in herbicide, is furnished with small pump, by the herbicide in bucket Extract, Jing conduits are sent to spraying nozzle.Shower nozzle is secured on mechanical arm, and such mechanical arm can be sprayed with 180 ° drive Fog spray head carries out the spray work in all directions.The motion in 180 ° of directions of mechanical arm and spray amount are all by wireless remote control Device sends dependent instruction control.

In addition, the container of powder charge agent is dismountable, staff when allocating and loading medicament, by container from robot On remove, after medicament is attached to container container is installed in robot again.It is so more convenient and safe.

The electric water pump of spray is directly to control using 12V power voltage supplies, STM32 controllers of the present utility model System, so, here this utility model reaches whether control electric water pump works with the folding of Single-chip Controlling relay. This utility model also needs to connect an audion between relay and the pin of controller, for amplifying electric current.Electric water pump Circuit diagram it is as shown in Figure 9.

The size of Water pump spraying, is controlled by controlling the rotating speed of pump motor, as passed through potentiometer R2 in Fig. 9 Partial pressure current limliting principle is controlling the rotating speed of pump motor.

The design of 2.6 mechanical hands and mechanical arm module

The design of the mechanical arm of weed-eradicating robot is constituted using 4 steering wheels and some aluminium alloy posts, 4 steering wheel difference The joint of 4 mechanical arms of control.Mechanical hand is constituted using an aluminum alloy machinery arm plus a steering wheel, and this steering wheel is The folding of mechanical arm is controlled, the crawl of the chips such as weeds is realized.

Mechanical hand and mechanical arm it is important that control the steering wheel of each joint motions, these servos controls are good, just etc. In creating a secondary good mechanical arm or mechanical hand.Mechanical hand and mechanical arm have shared 4 steering wheels, and the model of 4 steering wheels is MG499 steering wheels.

MG995 steering wheel parameters：

Structure material：Simulation metallic copper tooth, hollow-cup motor, double ball bearing.

Connection line length：30 centimetres, holding wire (yellow line) red line (power line) dark red (ground wire)

Size：40.7*19.7*42.9mm.

Weight：55 grams.

Reaction rotating speed：0.17 second/60 degree of no-load speed (4.8V)；0.13 second/60 degree (6.0V).

Work dead band:4 microseconds.

Plug specification:JR FUTABA are general.

Running voltage；3.0V-7.2V.

Operation torque：13KG/cm.

Using temperature:- 30~~+60 degrees Celsius.

The design of 2.7 own power source voltage detection modules

Its cells electric power detection this utility model is realizing, to utilize by the way of the output voltage of detection battery 16 bit A/D converters that STM32 single-chip microcomputers are carried, by voltage signal (analogue signal) a/d converter, Chip Microcomputer A/D conversion are inputed to Device is changed, and AD depositors are read in program, shows the virtual voltage after conversion through specific algorithm.Due to The output voltage of battery is between 11V-13V, and the AD analog input voltages of single-chip microcomputer are between 2.5-3.6V, so directly will It is not all right that the voltage signal of battery sends into a/d converter, it is necessary to by the voltage conversion of battery into AD analog voltages input range Interior, here this utility model changes voltage using the principle of series and parallel compensated resistance partial pressure current limliting.Concrete change-over circuit is as schemed Shown in 10.

Wherein, 12 ADC are a kind of successive approximation simulation digital converter.It has 18 passages, and measurable 16 outer Portion and 2 internal signal sources.The A/D conversions of each passage can be performed with single, continuous, scanning or discontinuous mode.The result of ADC can It is stored in 16 bit data registers with left-justify or Right Aligns mode.Simulation house dog characteristic allows application program to detect input Whether voltage exceeds user-defined high/low threshold values.Its performance characteristic is as follows：

12- bit resolutions；

Interruption is produced when EOC, injection EOC and generation simulation house dog event；

Single and continuous translative mode；

From passage 0 to the automatically scanning pattern of passage n；

Self calibration；

With the alignment of data that embedded data is consistent；

The sampling interval may be programmed between passage；

Rule conversion and injection conversion have external trigger option；

Discontinuous mode；

Double-mode (device with 2 or more ADC)；

ADC conversion times：STM32F103xx enhancement mode products：For 1 μ s, (ADC clocks are when ADC clocks are 56MHz 72MHz is 1.17 μ s)；

ADC power reguirements：2.4V to 3.6V；

ADC input ranges：VREF-≤VIN≤VREF+；

There is DMA request to produce during regular Channel-shifted.

The design of 2.8 2.4G wireless serial communication modules

NRF24L01 is a new single chip radio-frequency receiving-transmitting device, works in 2.4GHz~2.5GHz ISM bands.It is built-in The functional modules such as frequency synthesizer, power amplifier, crystal oscillator, manipulator, and merged enhancement mode ShockBurst skill Art, wherein output and communication channel can be configured by program.NRF24L01 is low in energy consumption, is being sent out with the power of -6dBm When penetrating, operating current also only has 9mA；During reception, operating current only has 12.3mA, various low-power working mode (power-down modes And idle pulley) be more convenient energy-saving design.

Wireless remote control is divided into two parts in weed-eradicating robot, and one is handheld terminal remote control emitting portion, and two is robot Receiving portion.

The design of 2.9 motor drive modules

Direct current generator is controlled by constant current constant voltage driving chip TB6612FNG, and TB6612FNG drives inside comprising 4 channel logics Galvanic electricity road, in that context it may be convenient to drive direct current generator, the module is improved much relative in traditional L298N efficiency.

Motor drive can be controlled by the logic level of single-chip microcomputer, can play the rotating of motor, be braked, the work(such as speed governing Energy.The rotating of motor and braking kinetic energy are controlled by the logic level of single-chip microcomputer, and the rotary speed of motor is to pass through Single-chip microcomputer send what the pulse signal of different duty was controlled, and the frequency of pulse signal is up to 100MHz.

The design of 2.10 robot car bodies

Robot car chassis adopts the dolly chassis of four-wheel drive, the metal motor as power output of 4 25MM, and adopts With the big foot tire of 4 130MM.

The size of dolly chassis：It is long：33.5cm, it is wide：27.0cm, it is high：13.0cm.

Intelligent robot is capable of achieving to advance, and retreats, and turns left, the operation such as right-hand rotation.These actions are all by Digiplex Come what is operated.Realized by controlling the positive and negative dress of the motor of the right and left or differential when wherein turning left and turning right.

Robot car domain have passed through of the present utility model reinforcing and operates again, and this utility model aluminum alloy plate materials are to machine People has been some corresponding DIY, and one plays a part of reinforcing, and two play effect attractive in appearance, and three play the fixation of each module.

The design of 2.11 Robot remote's devices

Digiplex Preliminary design has 1 shift knob and 11 touch keys, is respectively 4 control robot rides Directionkeys, the directionkeys of 4 control machinery arms, 1 control whether spray button, the folding button of 2 control machinery hands. The power supply of remote control is using two No. 7 AAA dry cell power supplies of section.Remote control distance is in field up to 100m.

3rd, the design of systems soft ware

3.1 development languages and instrument

Development language：C, C++, compilation.

Developing instrument：Keil uVision5

Program burn writing and downloaded software：mcuisp、UartAssist

Software debugging software：J-Link, COM Debug Assistant

Electric circuit diagram design software:Altium Designer 10.5

Development board：Prairie fire STM32 series exploitation plates

3.2 Remote softwares are designed

The remote control of weed-eradicating robot has 3 parts, keyboard surface sweeping, battery electric quantity detection, the communication of 2.4G wireless serials.Soft Part realizes that upper this utility model employs two general purpose timers and a serial ports intervalometer, and two general purpose timers are used separately as Keyboard surface sweeping and battery electric quantity AD conversion work, and serial ports intervalometer is used for will send information to robotic end.In mastery routine (main) it is inner mainly to have done the initial work of these modules and some other trifling little work.Remote software flow process Figure is as shown in figure 11

3.3 robot softwares design

This utility model is opened a serial ports and is interrupted, and receives the data that 2.4G wireless serials are received；Unlatching 2 is general fixed When device, 4 passages of an intervalometer are used to generate 4 road PWM to drive mechanical hand and mechanical arm, and another intervalometer is used for fixed When check and treatment of battery electric power detection be AD conversion；The logical order of other modules has been write in mastery routine (main).Machine The overall operation model process figure of people is as shown in figure 12.

Embodiment 2

On the basis of above technical scheme, following condition is met：

The single chip control module is based on the STM32 series monolithics of ARM7 kernels.

The single chip control module is the single-chip microcomputer of model STM32F103VET6.

The sound and light alarm module include a buzzer, a LED, an audion, the first current-limiting resistance, second Current-limiting resistance.

The audion is PNP types.

The colelctor electrode of the audion is connected with the wire of output terminal of 78L05 voltage stabilizing chips, the base stage and monolithic of audion The first current-limiting resistance is in series with the connection of machine control module circuit lead, the wire, the emitter stage of audion passes through a line conductor It is grounded via buzzer, the emitter stage of audion is grounded by another line conductor via LED, is also gone here and there on another line conductor It is associated with the second current-limiting resistance.

The infrared detection module, fingerprint identification module includes controller and photoswitch, and signal is passed through between the controller and photoswitch Line connects, and on the holding wire diode is in series with.

The conducting direction of the diode is to photoswitch by controller.

Detection of the voltage detection module to supply voltage is first cell output voltage to be converted into into the voltage-mode of 2.5V Plan signal, then be input to the a/d converter realization of single-chip microcomputer.

The wireless communication module is the Monolithic RF transceiver part of model nRF24L01.

Embodiment 3

On the basis of above technical scheme, following condition is met：

Detection of the voltage detection module to supply voltage is first cell output voltage to be converted into into the voltage-mode of 3.6V Plan signal, then be input to the a/d converter realization of single-chip microcomputer.

Embodiment 4

Embodiment of the present utility model has been described in detail above, but the content is only of the present utility model preferable Embodiment, not to limit this utility model.All any modifications made in application range of the present utility model, equivalent are replaced Change and improve, should be included within protection domain of the present utility model.

Claims

1. a kind of obstacle removing robot, it is characterised in that including power supply, single chip control module, sound and light alarm module, voltage detecting Module, infrared detection module, fingerprint identification module, wireless communication module, motor drive module, LM2596 chips, 78L05 voltage stabilizing chips, LM1117- 3.3 voltage stabilizing chips, wherein the power supply is 24V lithium batteries, the outfan of the power supply and the input wire of LM2596 chips Connection, the outfan of LM2596 chips passes through two line conductors input, motor drive module electricity respectively with 78L05 voltage stabilizing chips The input connection on road, the outfan of 78L05 voltage stabilizing chips is defeated with LM1117-3.3 voltage stabilizing chips respectively by six line conductors Enter end, the input of single chip control module circuit, the input of sound and light alarm module circuit, voltage detection module circuit it is defeated Enter the input connection of end, the input of infrared detection module, fingerprint identification module circuit, motor drive module circuit, LM1117-3.3 voltage stabilizing chips Outfan be connected with the input wire of wireless communication module；Sound and light alarm module, voltage detection module, infrared detection mould Block, wireless communication module, motor drive module are communicated to connect respectively with single chip control module.

2. a kind of obstacle removing robot according to claim 1, it is characterised in that the single chip control module is to be based on The STM32 series monolithics of ARM7 kernels.

3. a kind of obstacle removing robot according to claim 2, it is characterised in that the single chip control module is model The single-chip microcomputer of STM32F103VET6.

4. a kind of obstacle removing robot according to claim 1, it is characterised in that the sound and light alarm module includes a honeybee Ring device, a LED, an audion, the first current-limiting resistance, the second current-limiting resistance.

5. a kind of obstacle removing robot according to claim 4, it is characterised in that the audion is PNP types.

6. a kind of obstacle removing robot according to claim 5, it is characterised in that the colelctor electrode of the audion is steady with 78L05 The wire of output terminal connection of pressure chip, the base stage of audion is connected with single chip control module circuit lead, series connection on the wire The emitter stage for having the first current-limiting resistance, audion is grounded by a line conductor via buzzer, and the emitter stage of audion is by another One line conductor is grounded via LED, and on another line conductor the second current-limiting resistance is also in series with.

7. a kind of obstacle removing robot according to claim 1, it is characterised in that the infrared detection module, fingerprint identification module includes controller And photoswitch, connected by holding wire between the controller and photoswitch, it is in series with diode on the holding wire.

8. a kind of obstacle removing robot according to claim 7, it is characterised in that the conducting direction of the diode is by controlling Device processed is to photoswitch.

9. a kind of obstacle removing robot according to claim 1, it is characterised in that the voltage detection module is to supply voltage Detection be first cell output voltage to be converted into into the voltage analog signal of 2.5~3.6V, then the AD for being input to single-chip microcomputer What transducer was realized.

10. a kind of obstacle removing robot according to claim 1, it is characterised in that the wireless communication module is model The Monolithic RF transceiver part of nRF24L01.