CN206991062U - A kind of real-time embedded adaptive pushing device - Google Patents
A kind of real-time embedded adaptive pushing device Download PDFInfo
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- CN206991062U CN206991062U CN201720479519.1U CN201720479519U CN206991062U CN 206991062 U CN206991062 U CN 206991062U CN 201720479519 U CN201720479519 U CN 201720479519U CN 206991062 U CN206991062 U CN 206991062U
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Abstract
A kind of real-time embedded adaptive pushing device is the utility model is related to, belongs to electronic technology field.The utility model includes angular surveying circuit, serial communication circuit, single chip circuit, sound light alarming circuit, the stepper motor driving circuit of height regulation, the stepper motor that height is adjusted, the stepper motor driving circuit promoted, the stepper motor promoted, power supply.The utility model measures the angle of inclination of mobile device with respect to the horizontal plane in traveling process by the obliquity sensor of bottom of device, feedback signal reaches single-chip microcomputer, the height of the height regulation stepper motor regulation mobile device of single-chip microcomputer control afterwards, so as to reach the state of mobile device bottom and plane-parallel, it is simple in construction, cost is cheap, effectively reduces manpower and time cost.
Description
Technical field
A kind of real-time embedded adaptive pushing device is the utility model is related to, belongs to electronic technology field.
Background technology
As electronic technology is in real-life extensive use, people increasingly experience electronic product as life and work
Various facilities caused by industry, automatic technology flourish, the more life of people and industrialized production and control
Bring wide prospect.Bad adjustment when existing mobile device runs into slope angle and tilted, and traditional mobile device exists
Often it can not all be adjusted when inclined slope angle or mobile device run-off the straight is run into moving process, so as to influence to move
The work of device.The utility model is exactly such issues that solve to design, can operate with multiple fields.
The content of the invention
The technical problems to be solved in the utility model is：The utility model provides a kind of real-time embedded adaptive implementation
How device, the utility model are adjusted in time when being mainly the slope angle and tilt problem that solution mobile device runs into progradation
The problem of whole and mobile, propulsion system is additionally added in addition device can be moved more labour-saving in progradation.
Technical solutions of the utility model are：A kind of real-time embedded adaptive pushing device, including angular surveying circuit
1st, serial communication circuit 2, single chip circuit 3, sound light alarming circuit 4, the stepper motor driving circuit 5 of height regulation, height are adjusted
The stepper motor 6 of section, the stepper motor driving circuit 7 promoted, the stepper motor 8 promoted, power supply 9；
The angular surveying circuit 1 is used to measure the inclination angle of pushing device and is connected with serial communication circuit 2, serial communication
Circuit 2 is connected with single chip circuit 3, the driving stepper motor that single chip circuit 3 is adjusted with sound light alarming circuit 4, height respectively
Circuit 5, the stepper motor driving circuit 7 promoted connect, the stepper motor driving circuit 5 of height regulation and the stepping of height regulation
Group of motors 6 is connected, and the stepper motor driving circuit 7 of propulsion is connected with the stepper motor 8 promoted, the circuit of power supply 9 respectively with angle
Spend measuring circuit 1, serial communication circuit 2, single chip circuit 3, the stepper motor driving circuit 5 of height regulation, the stepping of propulsion
Motor-drive circuit 7 is connected.
The angular surveying circuit 1 includes resistance R12, resistance R13, resistance R14, resistance R15, resistance R16, diode
D4, diode D5, obliquity sensor Y2；Wherein obliquity sensor Y2 A ends are connected with diode D4 anode, while and resistance
R15 one end is connected, and obliquity sensor Y2 B ends are connected with diode D5 anode, while are connected with resistance R16 one end,
Diode D4 negative electrode is connected with diode D5 negative electrode, one end phase of resistance the R15 other end and resistance R12, resistance R13
Even, No. 7 pins of the chip RS485 in serial communication circuit 2 are connect while, resistance R12 a terminating resistor R15, resistance R13 and
Chip RS485 No. 7 pins, resistance R13 a terminating resistor R15, resistance R12 and chip RS485 No. 7 pins, resistance R12
Another termination 5V voltages, the resistance R16 other end is connected with one end of the resistance R13 other end and resistance R14, while connects chip
RS485 No. 6 pins, resistance R13 another terminating resistor R14, resistance R16 and chip RS485 No. 6 pins, resistance R14's
No. 6 pins of the one terminating resistor R13 other ends and resistance R16 and chip RS485, resistance R14 other end ground connection.
The serial communication circuit 2 includes chip RS485, resistance R6, resistance R7, resistance R8, resistance R9, resistance R10, electricity
Hinder R11, the photoelectric coupled circuit TIL117A being made up of respectively triode and photodiode, photoelectric coupled circuit TIL117B, photoelectric coupled circuit
TIL117C；In TIL117 photoelectric coupled circuits, just extremely No. 1 pin of photodiode, the negative pole of photodiode is No. 2 pipes
Pin, transmitting extremely No. 4 pins of triode, current collection extremely No. 5 pins of triode：Its chips RS485 No. 4 pins connect
TIL117A No. 2 pins, TIL117A No. 1 pin connecting resistance R7 one end, resistance R7 another termination 5V voltages,
TIL117A No. 4 pins ground connection, TIL117A No. 5 pin connecting resistance R6 one end and the P3.0 mouths of single-chip microcomputer, resistance R6's
Another termination 5V, chip RS485 No. 1 pin connect TIL117B No. 3 pins and resistance R9 one end, the resistance R9 other end
5V, TIL117B No. 4 pins ground connection are met, TIL117B No. 2 pins connect the P3.1 mouths of single-chip microcomputer, and TIL117B No. 1 pin connects
Resistance R8 one end, No. 2 of resistance R8 another termination 5V, chip RS485, No. 3 pins connect the P1.0 mouths and resistance of single-chip microcomputer
R11 one end, TIL117C No. 4 pins, resistance R11 other end ground connection, TIL117C No. 3 pins connect 5V voltages,
TIL117C No. 1 pin connecting resistance R10 one end, resistance R10 another termination 5V voltages, TIL117C No. 2 pin orders
The P1.0 mouths of piece machine, chip RS485 No. 8 pins connect 5V voltages, and chip RS485 connects No. 5 pin ground connection.
The single chip circuit 3 includes reset circuit and clock circuit, including resistance R1, resistance R2, electric capacity C1, electricity
Hold C2, electric capacity C3, reset switch SB1, crystal oscillator Y1, single-chip microcomputer；Wherein reset circuit is the RST9 pin connecting resistances of single-chip microcomputer
R1 and resistance R2 one end, while electric capacity C3 positive terminal is connect, resistance R1 other end ground connection, resistance R2 another termination is answered
Bit switch SB1 one end and 5V voltages, the other end of electric capacity C3 negative pole termination reset switch；Crystal oscillating circuit is single-chip microcomputer
XTAL1 connects crystal oscillator Y1 and electric capacity C1 one end, and the XTAL2 of single-chip microcomputer meets the other end of crystal oscillator and electric capacity C2 one end, electric capacity C1
The other end and the electric capacity C2 other end connect and be grounded, while the VSS connecting resistances R18 of single-chip microcomputer one end, resistance R18DE
The other end is grounded, and VCC connects connecting resistance R17 one end, resistance R17 another termination 5V voltage.
The sound light alarming circuit 4 include resistance R3, resistance R4, resistance R5, light emitting diode is red, light emitting diode is green,
Triode Q1, buzzer；A wherein terminating resistor R3 of buzzer, resistance R4 one end and 5V voltages, the resistance R3 other end
The red positive pole of sending and receiving optical diode, the red negative pole of light emitting diode connect the P1.1 mouths of single-chip microcomputer, resistance R4 other end sending and receiving light
The green positive pole of diode, the green negative pole of light emitting diode connect the P1.2 mouths of single-chip microcomputer, the collection of another termination triode of buzzer
Electrode, the grounded emitter of triode, the base stage connecting resistance R5 of triode one end, the resistance R5 other end connect single-chip microcomputer
P1.3 mouths.
The stepper motor driving circuit 5 of the height regulation and the stepper motor 6 of height regulation include chip
ULN2803a, chip ULN2803c, stepper motor M1, stepper motor M2, stepper motor M5, stepper motor M6；Wherein
ULN2803a pin IN1-IN8 meets the P0.0-P0.7 of single-chip microcomputer, and chip ULN2803a pin OUT1-OUT4 connects step respectively
Stepper motor M5 b, c, d, f interface, b, c, d, f that chip ULN2803a pin OUT5-OUT8 meets stepper motor M6 respectively connect
Mouthful, stepper motor M5, M6 a interfaces connect 5V voltages, chip ULN2803a No. 9 pins ground connection, and chip ULN2803a VCC connects
5V voltages；ULN2803c pin IN1-IN8 connects the P2.0-P2.7 of single-chip microcomputer, OUT1-OUT4 points of chip ULN2803c pin
Do not connect stepper motor M7 b, c, d, f interface, chip ULN2803c pin OUT5-OUT8 connect respectively stepper motor M8 b, c,
D, f interfaces, stepper motor M7, M8 a interfaces connect 5V voltages, and chip ULN2803c No. 9 pins are grounded, chip ULN2803c's
VCC connects 5V voltages.
The stepper motor driving circuit 7 of the propulsion and the stepper motor 8 promoted include chip ULN2803b, chip
ULN2803d, stepper motor M3, stepper motor M4, stepper motor M7, stepper motor M8；Wherein ULN2803b pin IN1-
IN8 meets the P0.0-P0.7 of single-chip microcomputer, and b, c, d, f that chip ULN2803b pin OUT1-OUT4 meets stepper motor M3 respectively connect
Mouthful, chip ULN2803b pin OUT5-OUT8 meets stepper motor M4 b, c, d, f interface, stepper motor M3, M4 a respectively
Interface connects 5V voltages, chip ULN2803b No. 9 pins ground connection, and chip ULN2803b VCC connects 5V voltages；ULN2803d pipe
Pin IN1-IN8 meets the P2.0-P2.7 of single-chip microcomputer, chip ULN2803d pin OUT1-OUT4 connect respectively stepper motor M7 b,
C, d, f interface, chip ULN2803d pin OUT5-OUT8 connect stepper motor M8 b, c, d, f interface, stepper motor respectively
M7, M8 a interfaces connect 5V voltages, chip ULN2803d No. 9 pins ground connection, and chip ULN2803d VCC connects 5V voltages.
The utility model measures mobile device in traveling process relative to level by the obliquity sensor of bottom of device
The angle of inclination in face, feedback signal reach single-chip microcomputer, the height regulation stepper motor regulation mobile device of single-chip microcomputer control afterwards
Height, so as to reach the state of mobile device bottom and plane-parallel, the stepper motor of propulsion plant can be movement
Device provides extra power, reduces manually, and whether sound and light alarm teaching process person angle of inclination can solve with highly regulation.
The utility model is novel in design, simple to operate and safe and efficient.
The beneficial effects of the utility model are：Simple in construction, cost is cheap, effectively reduces manpower and time cost, can
To measure the angle of pushing device by obliquity sensor, and inclination angle situation is reflected to single-chip microcomputer so that height stepping electricity
Machine carries out the lifting of height by worm screw, finally causes device to reach the state with horizontal equilibrium, promotes stepper motor to cause
Device can be voluntarily push ahead, and sound and light alarm can be with the working condition of notifying mobile device, in the utilization of industrial aspect
Safe ready.
Brief description of the drawings
Fig. 1 is structure connection figure of the present utility model；
Fig. 2 is single chip circuit of the present utility model；
Fig. 3 is angular surveying circuit of the present utility model；
Fig. 4 is serial communication circuit of the present utility model；
Fig. 5 is sound light alarming circuit of the present utility model；
Fig. 6 is the stepper motor driving circuit and stepper motor of height regulation of the present utility model；
Fig. 7 is the stepper motor driving circuit and stepper motor of propulsion of the present utility model；
Fig. 8 is the general frame figure of mobile device of the present utility model；
Fig. 9-10 is the front view and left view of mobile device of the present utility model.
In figure respectively marked as：1- angular surveying circuit, 2- serial communication circuits, 3- single chip circuits, 4- sound and light alarms electricity
The driving stepper motor electricity that stepper motor that stepper motor driving circuit that road, 5- are highly adjusted, 6- are highly adjusted, 7- are promoted
Road, the stepper motor of 8- propulsions, 9- power supplys, 10- obliquity sensors, the stepper motor that 11- is highly adjusted, 12- turbine push rods,
The stepper motor that 13- is promoted, 14- fixing axles, 15- tyre in motion, 16- casings.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the utility model is described in further detail.
Embodiment：As Figure 1-10 shows, a kind of real-time embedded adaptive pushing device, including angular surveying
Circuit 1, serial communication circuit 2, single chip circuit 3, sound light alarming circuit 4, the stepper motor driving circuit 5 of height regulation, height
The stepper motor 6 for spending regulation, the stepper motor driving circuit 7 promoted, the stepper motor 8 promoted, power supply 9；
The angular surveying circuit 1 is used to measure the inclination angle of pushing device and is connected with serial communication circuit 2, serial communication
Circuit 2 is connected with single chip circuit 3, the driving stepper motor that single chip circuit 3 is adjusted with sound light alarming circuit 4, height respectively
Circuit 5, the stepper motor driving circuit 7 promoted connect, the stepper motor driving circuit 5 of height regulation and the stepping of height regulation
Group of motors 6 is connected, and the stepper motor driving circuit 7 of propulsion is connected with the stepper motor 8 promoted, the circuit of power supply 9 respectively with angle
Spend measuring circuit 1, serial communication circuit 2, single chip circuit 3, the stepper motor driving circuit 5 of height regulation, the stepping of propulsion
Motor-drive circuit 7 is connected.
As further scheme of the present utility model, the angular surveying circuit 1 can use following design：Angular surveying
Circuit 1 includes resistance R12, resistance R13, resistance R14, resistance R15, resistance R16, diode D4, diode D5, obliquity sensor
Y2；Wherein obliquity sensor Y2 A ends are connected with diode D4 anode, while are connected with resistance R15 one end, inclination angle sensing
Device Y2 B ends are connected with diode D5 anode, while are connected with resistance R16 one end, diode D4 negative electrode and diode
D5 negative electrode is connected, and the resistance R15 other end is connected with resistance R12, resistance R13 one end, while connects in serial communication circuit 2
Chip RS485 No. 7 pins, resistance R12 a terminating resistor R15, resistance R13 and chip RS485 No. 7 pins, resistance
R13 a terminating resistor R15, resistance R12 and chip RS485 No. 7 pins, another termination 5V voltages of resistance R12, resistance R16
The other end be connected with the resistance R13 other end and resistance R14 one end, while meet chip RS485 No. 6 pins, resistance R13
Another terminating resistor R14, resistance R16 and chip RS485 No. 6 pins, a resistance R14 terminating resistor R13 other ends and
Resistance R16 and chip RS485 No. 6 pins, resistance R14 other end ground connection.
As further scheme of the present utility model, the serial communication circuit 2 can use following design：The serial ports
Telecommunication circuit 2 include chip RS485, resistance R6, resistance R7, resistance R8, resistance R9, resistance R10, resistance R11, respectively by three poles
Photoelectric coupled circuit TIL117A, photoelectric coupled circuit TIL117B, the photoelectric coupled circuit TIL117C of pipe and photodiode composition；In TIL117
In photoelectric coupled circuit, just extremely No. 1 pin of photodiode, the negative pole of photodiode is No. 2 pins, the emitter stage of triode
For No. 4 pins, current collection extremely No. 5 pins of triode：Its chips RS485 No. 4 pins connect TIL117A No. 2 pins,
TIL117A No. 1 pin connecting resistance R7 one end, resistance R7 another termination 5V voltages, TIL117A No. 4 pins ground connection,
TIL117A No. 5 pin connecting resistance R6 one end and the P3.0 mouths of single-chip microcomputer, resistance R6 another termination 5V, chip RS485's
No. 1 pin connects TIL117B No. 3 pins and resistance R9 one end, and resistance R9 another termination 5V, TIL117B No. 4 pins connect
Ground, TIL117B No. 2 pins connect the P3.1 mouths of single-chip microcomputer, and TIL117B No. 1 pin connecting resistance R8 one end, resistance R8's is another
One termination 5V, No. 2 of chip RS485, No. 3 pins connect the P1.0 mouths of single-chip microcomputer and resistance R11 one end, TIL117C No. 4 pipes
Pin, resistance R11 other end ground connection, TIL117C No. 3 pins connect 5V voltages, and the one of TIL117C No. 1 pin connecting resistance R10
End, resistance R10 another termination 5V voltages, TIL117C No. 2 pins connect the P1.0 mouths of single-chip microcomputer, chip RS485 No. 8 pipes
Pin connects 5V voltages, and chip RS485 connects No. 5 pin ground connection.
As further scheme of the present utility model, the single chip circuit 3 can use following design：Single chip circuit
3 include reset circuit and clock circuit, including resistance R1, resistance R2, electric capacity C1, electric capacity C2, electric capacity C3, reset switch
SB1, crystal oscillator Y1, single-chip microcomputer（C51 series monolithics can be used, can be specifically P89061X2 or AT89C2051）；Wherein
Reset circuit is RST9 the pin connecting resistance R1 and resistance R2 of single-chip microcomputer one end, while connects electric capacity C3 positive terminal, resistance
R1 other end ground connection, resistance R2 another termination reset switch SB1 one end and 5V voltages, electric capacity C3 negative pole termination are multiple
The other end of bit switch；Crystal oscillating circuit is that the XTAL1 of single-chip microcomputer connects crystal oscillator Y1 and electric capacity C1 one end, and the XTAL2 of single-chip microcomputer connects
The other end of crystal oscillator and electric capacity C2 one end, the electric capacity C1 other end and the electric capacity C2 other end connect and are grounded, while monolithic
The VSS connecting resistances R18 of machine one end, resistance R18DE other ends ground connection, VCC connect connecting resistance R17 one end, and resistance R17's is another
One termination 5V voltage.
As further scheme of the present utility model, the sound light alarming circuit 4 can use following design：Sound and light alarm
Circuit 4 includes resistance R3, resistance R4, resistance R5, light emitting diode is red, light emitting diode is green, triode Q1, buzzer；Wherein
One terminating resistor R3 of buzzer, resistance R4 one end and 5V voltages, the red positive pole of resistance R3 other end sending and receiving optical diode,
The red negative pole of light emitting diode connects the P1.1 mouths of single-chip microcomputer, the green positive pole of resistance R4 other end sending and receiving optical diode, lights two
The green negative pole of pole pipe connects the P1.2 mouths of single-chip microcomputer, the colelctor electrode of another termination triode of buzzer, and the emitter stage of triode connects
Ground, the base stage connecting resistance R5 of triode one end, the resistance R5 other end connect the P1.3 mouths of single-chip microcomputer.
As further scheme of the present utility model, the stepper motor driving circuit 5 and height of the height regulation are adjusted
Stepper motor 6 can use following design：The highly stepper motor driving circuit 5 of regulation and the stepper motor of height regulation
Group 6 includes chip ULN2803a, chip ULN2803c, stepper motor M1, stepper motor M2, stepper motor M5, stepper motor M6；
Wherein ULN2803a pin IN1-IN8 connects the P0.0-P0.7 of single-chip microcomputer, chip ULN2803a pin OUT1-OUT4 difference
Connect stepper motor M5 b, c, d, f interface, chip ULN2803a pin OUT5-OUT8 connect respectively stepper motor M6 b, c, d,
F interfaces, stepper motor M5, M6 a interfaces connect 5V voltages, and chip ULN2803a No. 9 pins are grounded, chip ULN2803a's
VCC connects 5V voltages；ULN2803c pin IN1-IN8 meets the P2.0-P2.7 of single-chip microcomputer, chip ULN2803c pin OUT1-
OUT4 connects stepper motor M7 b, c, d, f interface respectively, and chip ULN2803c pin OUT5-OUT8 meets stepper motor M8 respectively
B, c, d, f interface, stepper motor M7, M8 a interfaces connect 5V voltages, chip ULN2803c No. 9 pins ground connection, chip
ULN2803c VCC connects 5V voltages.
As further scheme of the present utility model, the stepper motor driving circuit 7 of the propulsion and the stepping electricity promoted
Unit 8 can use following design：The stepper motor driving circuit 7 of propulsion and the stepper motor 8 promoted include chip
ULN2803b, chip ULN2803d, stepper motor M3, stepper motor M4, stepper motor M7, stepper motor M8；Wherein
ULN2803b pin IN1-IN8 meets the P0.0-P0.7 of single-chip microcomputer, and chip ULN2803b pin OUT1-OUT4 connects step respectively
Stepper motor M3 b, c, d, f interface, b, c, d, f that chip ULN2803b pin OUT5-OUT8 meets stepper motor M4 respectively connect
Mouthful, stepper motor M3, M4 a interfaces connect 5V voltages, chip ULN2803b No. 9 pins ground connection, and chip ULN2803b VCC connects
5V voltages；ULN2803d pin IN1-IN8 connects the P2.0-P2.7 of single-chip microcomputer, OUT1-OUT4 points of chip ULN2803d pin
Do not connect stepper motor M7 b, c, d, f interface, chip ULN2803d pin OUT5-OUT8 connect respectively stepper motor M8 b,
C, d, f interface, stepper motor M7, M8 a interfaces meet 5V voltages, chip ULN2803d No. 9 pins ground connection, chip ULN2803d
VCC connect 5V voltages.
Such as Fig. 8-10, can be used when mobile device of the present utility model designs under the fixing axle 14 of tyre in motion 15
End sets the stepper motor 13 promoted, and the upper end of fixing axle 14 is connected with turbine push rod 12, turbine push rod 12 again with the phase of casing 16
Connection, turbine push rod 12 are provided with the stepper motor 11 of height regulation and are connected with the stepper motor 11 of height regulation, its case
The bottom of body 16 sets obliquity sensor 10, in practical application, the stepper motor that the composition of stepper motor 13 of 4 propulsions promotes
The stepper motor 6 of the composition height regulation of stepper motor 11 of 8,4 height regulations of group.
Operation principle of the present utility model is：
The angular surveying circuit 1 is used to measure the inclination angle of pushing device, when device in progradation run-off the straight or
When person's climb and fall, obliquity sensor can measure the angle of inclination of device, the serial communication that tilt signals pass through RS485
Data are reached into SCM system, SCM system is connected to stepper motor driving circuit 5 and the height regulation of height regulation
Stepper motor 6, thus reach the purpose of balance propulsion plant, while the stepper motor that SCM system is also connected with promoting drives
Dynamic circuit 7 and stepper motor, thus propulsion plant advance.SCM system is also connected with sound light alarming circuit 4, can reflect
Inclination angle situation.
Obliquity sensor Y2 measures the angle of inclination of platform in Fig. 3, and signal is reached into monolithic by two interfaces of A, B
Machine, single-chip microcomputer are performed accordingly further according to feedback data, such as startup and the sound and light alarm of the stepper motor of height regulation
Whether circuit starts, and main work process is as follows, after obliquity sensor 10 receives dip angle signal, by physical analogy signal
D4 commutation diodes and D5 commutation diodes are transmitted separately to by A, B interface, the biography respectively that signal just can relatively be stablized passes through electricity
R15 and resistance R16 is hindered, in order to protect chip RS485, signal reaches chip RS485 B mouths and A mouths by R15 and R16 respectively,
Before two interfaces and a resistance protection chip is connect, in order to which voltage stabilizing connects a resistance connecing at 5V voltages and ground connection, as upper
Pull-up resistor and pull down resistor, chip RS485 No. 8 pins directly connect 5V voltages, and No. 5 pins are directly grounded, and chip RS485 will believe
Photoelectric coupled circuit TIL117A No. 2 pins number are reached, while No. 1 pin connects pull-up resistor so as to form a loop, light-emitting diodes
After pipe triggering is luminous, opto-electronic receiver triode triggers after receiving optical signal, and signal reaches the P3.0 mouths of single-chip microcomputer, in order to protect
Single-chip microcomputer, a pull-up resistor is connect in 5V voltages and interface, for feedback signal, the P3.1 of single-chip microcomputer connects photoelectric coupled circuit
TIL117B No. 2 pins, No. 1 pin connects 5V voltages and forms a loop, in order to which protection circuit goes out to connect a pull-up in 5V voltages
Resistance, if P3.1 obtains signal, the circuit turn-on, transmitted by No. 3 pins to core after photelectric receiver reception signal
Piece RS485 No. 1 pin, in order to protect chip RS485, a pull-up resistor, core are connect in the interface that No. 1 pin meets voltage 5V
Piece RS485 is grounded；The P1.0 of single-chip microcomputer connects photoelectric coupled circuit TIL117C No. 2 pins, and No. 1 pin connects 5V voltages and formed one time
Road, in order to which protection circuit goes out to connect a pull-up resistor in 5V voltages, if P1.0 obtains signal, the circuit turn-on, photoelectricity
Transmitted after receiver reception signal by No. 4 pins to No. 2 of chip RS485 and No. 3 pins, for protection circuit, in No. 4 pipes
The interface of pin ground connection connects a pull down resistor, chip RS485 ground connection, and photoelectric coupled circuit TIL117C No. 3 pins connect 5V voltages.
After single-chip microcomputer obtains these dip angle signals, drive signal is sent to stepper motor driving circuit and sound and light alarm electricity by single-chip microcomputer
Road carries out early warning, and the P0 mouths of single-chip microcomputer are the drivings to stepper motor driving circuit ULN2803, because mobile device has four
Position, therefore select 2 ULN2803 to drive this four stepper motors (M1, M2, M5, M6), can in order that obtaining stepper motor
Rise, devise the purpose moved up and down that the mechanical structure i.e. mode of screw rod reaches mobile device, while driving stepper motor
Circuit also drives four additional stepper motor simultaneously（M3、M4、M7、M8）As the power set of mobile device, in mobile device
While mobile, stepper motor also provides extra power.
Specific operation principle：Mobile device is in moving process, when being moved to the gradient or during inclined road surface,
Mobile device can produce certain angle of inclination, and the inclination angle below mobile device can go out this angle of bank measurement
Come, afterwards reach inclined data in single-chip microcomputer, after internal program judges, judge whether to may be such that platform and level one
Cause, if angle is not equally to send out a warning and have buzzer, if given a green light if the same, by the height for adjusting platform
Degree, the stepper motor of corresponding tilt angle start to act, risen platform by worm screw, now obliquity sensor measures shifting in real time
The angle of inclination of dynamic device, when lamp becomes green light, mobile platform reaches horizontal.The stepping that now MCU driving promotes
Motor is operated so that platform can be moved more labour-saving.
Specific embodiment of the utility model is explained in detail above in conjunction with accompanying drawing, but the utility model and unlimited
In above-described embodiment, in those of ordinary skill in the art's possessed knowledge, the utility model can also not departed from
Various changes can be made on the premise of objective.
Claims (7)
- A kind of 1. real-time embedded adaptive pushing device, it is characterised in that：Including angular surveying circuit（1）, serial communication Circuit（2）, single chip circuit（3）, sound light alarming circuit（4）, height regulation stepper motor driving circuit（5）, height adjust Stepper motor（6）, promote stepper motor driving circuit（7）, promote stepper motor（8）, power supply（9）；The angular surveying circuit（1）For measuring inclination angle and and the serial communication circuit of pushing device（2）Connection, serial communication Circuit（2）With single chip circuit（3）Connection, single chip circuit（3）Respectively with sound light alarming circuit（4）, height regulation stepping Motor-drive circuit（5）, promote stepper motor driving circuit（7）Connection, the stepper motor driving circuit of height regulation（5）With The highly stepper motor of regulation（6）Connection, the stepper motor driving circuit of propulsion（7）With the stepper motor of propulsion（8）Even Connect, power supply（9）Circuit respectively with angular surveying circuit（1）, serial communication circuit（2）, single chip circuit（3）, height regulation Stepper motor driving circuit（5）, promote stepper motor driving circuit（7）It is connected.
- 2. real-time embedded adaptive pushing device according to claim 1, it is characterised in that：The angular surveying electricity Road（1）Including resistance R12, resistance R13, resistance R14, resistance R15, resistance R16, diode D4, diode D5, obliquity sensor Y2；Wherein obliquity sensor Y2 A ends are connected with diode D4 anode, while are connected with resistance R15 one end, inclination angle sensing Device Y2 B ends are connected with diode D5 anode, while are connected with resistance R16 one end, diode D4 negative electrode and diode D5 negative electrode is connected, and the resistance R15 other end is connected with resistance R12, resistance R13 one end, while connects serial communication circuit（2） In chip RS485 No. 7 pins, resistance R12 a terminating resistor R15, resistance R13 and chip RS485 No. 7 pins, electricity Hinder R13 a terminating resistor R15, resistance R12 and chip RS485 No. 7 pins, another termination 5V voltages of resistance R12, resistance The R16 other end is connected with the resistance R13 other end and resistance R14 one end, while connects chip RS485 No. 6 pins, resistance R13 another terminating resistor R14, resistance R16 and chip RS485 No. 6 pins, a resistance R14 terminating resistor R13 other ends And resistance R16 and chip RS485 No. 6 pins, resistance R14 other end ground connection.
- 3. real-time embedded adaptive pushing device according to claim 1, it is characterised in that：The serial communication electricity Road（2）Including chip RS485, resistance R6, resistance R7, resistance R8, resistance R9, resistance R10, resistance R11, respectively by triode and Photoelectric coupled circuit TIL117A, photoelectric coupled circuit TIL117B, the photoelectric coupled circuit TIL117C of photodiode composition；In TIL117 optocouplers In circuit, just extremely No. 1 pin of photodiode, the negative pole of photodiode is No. 2 pins, the transmitting extremely 4 of triode Number pin, current collection extremely No. 5 pins of triode：Its chips RS485 No. 4 pins connect TIL117A No. 2 pins, TIL117A No. 1 pin connecting resistance R7 one end, resistance R7 another termination 5V voltages, TIL117A No. 4 pins ground connection, TIL117A No. 5 pin connecting resistance R6 one end and the P3.0 mouths of single-chip microcomputer, resistance R6 another termination 5V, chip RS485's No. 1 pin connects TIL117B No. 3 pins and resistance R9 one end, and resistance R9 another termination 5V, TIL117B No. 4 pins connect Ground, TIL117B No. 2 pins connect the P3.1 mouths of single-chip microcomputer, and TIL117B No. 1 pin connecting resistance R8 one end, resistance R8's is another One termination 5V, No. 2 of chip RS485, No. 3 pins connect the P1.0 mouths of single-chip microcomputer and resistance R11 one end, TIL117C No. 4 pipes Pin, resistance R11 other end ground connection, TIL117C No. 3 pins connect 5V voltages, and the one of TIL117C No. 1 pin connecting resistance R10 End, resistance R10 another termination 5V voltages, TIL117C No. 2 pins connect the P1.0 mouths of single-chip microcomputer, chip RS485 No. 8 pipes Pin connects 5V voltages, and chip RS485 connects No. 5 pin ground connection.
- 4. real-time embedded adaptive pushing device according to claim 1, it is characterised in that：The single chip circuit （3）Including reset circuit and clock circuit, including resistance R1, resistance R2, electric capacity C1, electric capacity C2, electric capacity C3, reset switch SB1, crystal oscillator Y1, single-chip microcomputer；Wherein reset circuit is RST9 the pin connecting resistance R1 and resistance R2 of single-chip microcomputer one end, simultaneously Connect electric capacity C3 positive terminal, resistance R1 other end ground connection, resistance R2 another termination reset switch SB1 one end and 5V electricity Pressure, the other end of electric capacity C3 negative pole termination reset switch；Crystal oscillating circuit is that the XTAL1 of single-chip microcomputer meets crystal oscillator Y1 and electric capacity C1 One end, the XTAL2 of single-chip microcomputer connect the other end of crystal oscillator and electric capacity C2 one end, the electric capacity C1 other end and the electric capacity C2 other end Connect and be grounded, at the same the VSS connecting resistances R18 of single-chip microcomputer one end, resistance R18DE other ends ground connection, VCC connecting resistances R17's One end, resistance R17 another termination 5V voltage.
- 5. real-time embedded adaptive pushing device according to claim 1, it is characterised in that：The sound and light alarm electricity Road（4）Including resistance R3, resistance R4, resistance R5, light emitting diode is red, light emitting diode is green, triode Q1, buzzer；Wherein One terminating resistor R3 of buzzer, resistance R4 one end and 5V voltages, the red positive pole of resistance R3 other end sending and receiving optical diode, The red negative pole of light emitting diode connects the P1.1 mouths of single-chip microcomputer, the green positive pole of resistance R4 other end sending and receiving optical diode, lights two The green negative pole of pole pipe connects the P1.2 mouths of single-chip microcomputer, the colelctor electrode of another termination triode of buzzer, and the emitter stage of triode connects Ground, the base stage connecting resistance R5 of triode one end, the resistance R5 other end connect the P1.3 mouths of single-chip microcomputer.
- 6. real-time embedded adaptive pushing device according to claim 1, it is characterised in that：The height regulation Stepper motor driving circuit（5）And the stepper motor of height regulation（6）Including chip ULN2803a, chip ULN2803c, step Stepper motor M1, stepper motor M2, stepper motor M5, stepper motor M6；Wherein ULN2803a pin IN1-IN8 connects single-chip microcomputer P0.0-P0.7, chip ULN2803a pin OUT1-OUT4 connect stepper motor M5 b, c, d, f interface, chip respectively ULN2803a pin OUT5-OUT8 connects stepper motor M6 b, c, d, f interface respectively, and stepper motor M5, M6 a interfaces meet 5V Voltage, chip ULN2803a No. 9 pins ground connection, chip ULN2803a VCC connect 5V voltages；ULN2803c pin IN1- IN8 meets the P2.0-P2.7 of single-chip microcomputer, and b, c, d, f that chip ULN2803c pin OUT1-OUT4 meets stepper motor M7 respectively connect Mouthful, chip ULN2803c pin OUT5-OUT8 meets stepper motor M8 b, c, d, f interface, stepper motor M7, M8 a respectively Interface connects 5V voltages, chip ULN2803c No. 9 pins ground connection, and chip ULN2803c VCC connects 5V voltages.
- 7. real-time embedded adaptive pushing device according to claim 1, it is characterised in that：The stepping of the propulsion Motor-drive circuit（7）And the stepper motor promoted（8）Including chip ULN2803b, chip ULN2803d, stepper motor M3, Stepper motor M4, stepper motor M7, stepper motor M8；Wherein ULN2803b pin IN1-IN8 meets the P0.0- of single-chip microcomputer P0.7, chip ULN2803b pin OUT1-OUT4 connect stepper motor M3 b, c, d, f interface respectively, chip ULN2803b's Pin OUT5-OUT8 connects stepper motor M4 b, c, d, f interface respectively, and stepper motor M3, M4 a interfaces connect 5V voltages, chip ULN2803b No. 9 pins ground connection, chip ULN2803b VCC connect 5V voltages；ULN2803d pin IN1-IN8 connects single-chip microcomputer P2.0-P2.7, chip ULN2803d pin OUT1-OUT4 connects stepper motor M7 b, c, d, f interface, chip respectively ULN2803d pin OUT5-OUT8 connects stepper motor M8 b, c, d, f interface respectively, and stepper motor M7, M8 a interfaces meet 5V Voltage, chip ULN2803d No. 9 pins ground connection, chip ULN2803d VCC connect 5V voltages.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107102585A (en) * | 2017-05-03 | 2017-08-29 | 昆明理工大学 | A kind of real-time embedded adaptive pushing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107102585A (en) * | 2017-05-03 | 2017-08-29 | 昆明理工大学 | A kind of real-time embedded adaptive pushing device |
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