CN206373932U

CN206373932U - A kind of outdoor stair based on STM32 clear the snow robot

Info

Publication number: CN206373932U
Application number: CN201621276525.9U
Authority: CN
Inventors: 马莹; 李明雨; 王璐瑶; 赵伟博
Original assignee: Zhengzhou University
Current assignee: Zhengzhou University
Priority date: 2016-11-25
Filing date: 2016-11-25
Publication date: 2017-08-04
Anticipated expiration: 2026-11-25

Abstract

The utility model discloses a kind of outdoor stair based on STM32 and cleared the snow robot, including MCU, motor drive module, left-hand rotation motor, right-hand machine, optoelectronic switch, infrared distance measurement module, back support rod and front support rod, the MCU connects relay A, relay B, motor drive module, optoelectronic switch and infrared distance measurement module respectively, the motor drive module connects left-hand rotation motor and right-hand machine respectively, relay A is also connected with back support rod, and relay B is also connected with front support rod.Outdoor stair of the utility model based on STM32 clear the snow robot utilize single-chip microcomputer control machine operating, the detection for clearing the snow, advancing, retreat, appearing on the stage is realized by sensor, lifting by former and later two racks reaches the purpose that machine is appeared on the stage freely, convenient and reliable, elegant in appearance, simple structure, safe and reliable, cheap.

Description

A kind of outdoor stair based on STM32 clear the snow robot

Technical field

The utility model is related to robot field, and specifically a kind of outdoor stair based on STM32 clear the snow robot.

Background technology

For northern area, after especially heavy snow of every winter, outdoor always one thick layer accumulated snow of accumulation, serious shadow The trip of people is rung, for road snow and platform accumulated snow, often has snowslinger or snow-melting agent to be cleared up, and as outdoor stair The precipitous and perilous landform of this complexity, always falls sliding accident occurred frequentlyly, but snowslinger is excessively huge to be operated, and snow-melting agent is easily made again Into environmental pollution, therefore usually using manually clearing the snow, the cleaning for stair accumulated snow in severe cold often makes to sweep personnel's hardship not It may say, and because day is trembled with fear, ground is slided, and manually carries out the danger situation fallen down, fallen easily occur during stair cleaning out of doors.Mirror In this problem, we study a kind of outdoor stair snow removal machine people based on STM32, and it can both solve to use snow-melting agent band The problem of environmental pollution come, can also reduce and hinder labor risk produced by manually operating, with the property automatically operated, with electricity Pond is as the energy, and by the use of its scoop as shovel snow instrument, having cleared up after one layer of step accumulated snow can be autonomous by rack before and after car body Appear on the stage and work on, in this difficult physical features of stair, this robot not only compensate for the deficiency of conventional method, also give play to more Valuable advantage, with high efficiency.

Utility model content

The purpose of this utility model is that a kind of outdoor stair simple in construction, easy to use based on STM32 of offer are clear Robot is avenged, to solve the problems mentioned in the above background technology.

To achieve the above object, the utility model provides following technical scheme：

A kind of outdoor stair based on STM32 clear the snow robot, including MCU, motor drive module, left-hand rotation motor, turn right Motor, optoelectronic switch, infrared distance measurement module, back support rod and front support rod, the MCU connect respectively relay A, relay B, Motor drive module, optoelectronic switch and infrared distance measurement module, the motor drive module connect left-hand rotation motor and electricity of turning right respectively Machine, relay A is also connected with back support rod, and relay B is also connected with front support rod.

It is used as preferred scheme of the present utility model：The front support rod and back support rod pass through motor control.

It is used as preferred scheme of the present utility model：The MCU is STM32 series monolithics.

Compared with prior art, the beneficial effects of the utility model are：Outdoor stair of the utility model based on STM32 are clear Avenge robot to operate using single-chip microcomputer control machine, the detection for clearing the snow, advancing, retreat, appearing on the stage is realized by sensor, relied on The lifting of former and later two racks reaches the purpose that machine is appeared on the stage freely, convenient and reliable, elegant in appearance, simple structure, it is safe and reliable, It is cheap.For the outdoor stair of snow and ice cover, overcome Traditional Man in severe cold clear the snow easily occur falling down, falling hazard feelings The hidden danger of shape, using snow-melting agent environment is caused the pollution problem of great burden and snowslinger it is this it is large-scale clear the snow machine for Outdoor this complicated narrow physical features of stairway step is difficult the inferior position of running, and the robot outward appearance that clears the snow is simply exquisite, runs into ladder Plateau can be climbed automatically, and running into step edge can also retract in time, therefore than artificial and big in the cleaning of stair accumulated snow Type machine can more keep no dead angle, efficient feature, its not only environmental protection, solve the ring brought using chemical snow-melting agent Border pollution problem, while hinder labor risk produced by the artificial operation of reduction, but also by its compact outward appearance, can be in stair Flexible operation in difficult physical features as step, gives full play to its maximum effect.

Brief description of the drawings

Fig. 1 is that the outdoor stair based on STM32 clear the snow the circuit diagram of robot.

Fig. 2 is a kind of structure chart of embodiment of the utility model.

In figure：1-3D printouts 2,2- circuit control panels, 3-3D printouts 3,4- motors, 5- photoelectric sensors, 6- Mikes Receive female wheel, 7- sheet metal shells, 8- shovels, 9-24V turbo-dynamoes, 10-3D printouts 1,11- racks.

Embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made The every other embodiment obtained, belongs to the scope of the utility model protection.

Refer to Fig. 1-2, a kind of outdoor stair based on STM32 clear the snow robot, including MCU, motor drive module, a left side Rotating motor, right-hand machine, optoelectronic switch, infrared distance measurement module, back support rod and front support rod, the MCU connect relay respectively Device A, relay B, motor drive module, optoelectronic switch and infrared distance measurement module, the motor drive module connect left-hand rotation respectively Motor and right-hand machine, relay A are also connected with back support rod, and relay B is also connected with front support rod.

Front support rod and back support rod pass through motor control.MCU is STM32 series monolithics.

Operation principle of the present utility model is：Using computer, machinery, the automatically controlled technology being combined, mainly controlled by STM32 Making sheet, relay, motor, motor is driven, optoelectronic switch, infrared distance measurement, and the part such as front and rear support bar is constituted, it is characterized in that：This Machine is in cube dolly image, on the basis of single-chip microcomputer design program, with appearing on the stage, impacts, cleans etc. before function, machine End be equipped with spades device, spades use high patience, the stainless steel material of high tenacity 302, with metal plate punching technology, it is ensured that shovel face with Being brought into close contact for ground, can destroy adhesive force and affinity of the compacting ice and snow to ground, recycle the impulsive force of vehicle body so as to suitable Profit is by snow shovel from stair table top；The method that machine supports ground when appearing on the stage in turn using front and rear rack, when different by height Two sensors when detecting preparation and appearing on the stage, stretched in the case where single-chip microcomputer controls the preceding rack of lower body and prop up front of the car and make front vehicle wheel Take in step edge, preceding rack is withdrawn, wheel accelerates to make vehicle body to advance a segment distance, make rear rack be affixed on table top (at this moment due to Body sway, only rack lower end paste table top), then make to stretch under rack after vehicle body and prop up vehicle body (at this moment vehicle body is more than half in table top On), then receive rack and appear on the stage；Machine receives female wheel equipped with Mike, it is ensured that narrow step table top realize it is steady move ahead with Turn；In addition, machine utilizes infrared sensing and ranging technology, realizes the constantly seizure to surrounding objects, so that it is determined that Signal is fed back to control panel by target position, sensor, and control panel is dealt with to information in time, passes through the control to motor Make and change wheel velocity, and then machine is detected ladder plateau and climb automatically, detecting step edge can also be timely Retract, and complete accordingly turn left, turn right, impacting, appearing on the stage, retreating etc. to act, reach the purpose of removing accumulated snow.

As a kind of embodiment of the present utility model, as shown in Fig. 2 being the model view of machine.(from right to left) Mike Female wheel of receiving is coupled with motor by shaft coupling (not indicated in figure) and fixed by bolt and nut with bottom plate；301 stainless steel instruments Shovel is fixed by hinge with 3D printing part 1, and the latter is fixed by bolt and nut with bottom plate；24v turbo-dynamoes are matched somebody with somebody with rack Close, and pass through the morpheme of the stationary rack of 3D printing part 2；Circuit control panel is consolidated by copper post (not indicated in figure) and bottom plate It is fixed；Photoelectric sensor is fixed by 3D printing part 3 and bottom plate；According to assembly relation in figure, side shell, rear shell and bottom plate, top Plate is coupled by bolt and nut；Handle is coupled by bolt and nut with top plate.Assemble and do not show in content, figure for more preferably display Have one piece of 4s batteries in showing, leads (Du Pont's line, motor lines) are some, and bolt and nut is some.

Machine operation：Machine dimensions are 300mm*300mm, and the width of conventional step is 300-320mm.There is accumulated snow (human body faces step) places machine (rear end is affixed on table top) on the left of step, by the different photoelectric sensor of height to table top Detection, execution is appeared on the stage program, is stretched in the case where single-chip microcomputer controls the rear rack of lower body and is propped up rear and rear wheel is taken in step side Edge, rear rack is withdrawn, and wheel accelerates to make vehicle body one segment distance of traveling, and rack is affixed on table top (at this moment due to body sway, only before making There is rack lower end to paste table top), then make to stretch under rack before vehicle body and prop up vehicle body (at this moment vehicle body more than half on table top), then receive tooth Bar is appeared on the stage.After appearing on the stage, program controlled motor driving is that Mike receives female wheel and realizes 90 ° of right rotations of fixed point, afterwards, and machine is along straight Line is advanced, and is cleared up accumulated snow by shovel, during to traveling to step end, anti-lost photoelectric sensor in front of machine, Detect ground and stop traveling, and configuration processor, vehicle body is pinpointed after 90 ° of anticlockwises, above-mentioned program of appearing on the stage is performed again, directly Power supply is closed after to the accumulated snow for having cleared up last stage rank, the task that clears the snow is completed.

Claims

The robot 1. a kind of outdoor stair based on STM32 clear the snow, including MCU, motor drive module, left-hand rotation motor, electricity of turning right Machine, optoelectronic switch, infrared distance measurement module, back support rod and front support rod, it is characterised in that the MCU connects relay respectively A, relay B, motor drive module, optoelectronic switch and infrared distance measurement module, the motor drive module connect left-hand rotation electricity respectively Machine and right-hand machine, relay A are also connected with back support rod, and relay B is also connected with front support rod.
The robot 2. a kind of outdoor stair based on STM32 according to claim 1 clear the snow, it is characterised in that before described Support bar and back support rod pass through motor control.
The robot 3. a kind of outdoor stair based on STM32 according to claim 1 clear the snow, it is characterised in that the MCU For STM32 series monolithics.