CN208246824U - A kind of control system for the robot that sprays - Google Patents
A kind of control system for the robot that sprays Download PDFInfo
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- CN208246824U CN208246824U CN201820271824.6U CN201820271824U CN208246824U CN 208246824 U CN208246824 U CN 208246824U CN 201820271824 U CN201820271824 U CN 201820271824U CN 208246824 U CN208246824 U CN 208246824U
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Abstract
The utility model relates to a kind of control systems of robot that sprays, it is characterized in that, including main control module, the main control module is connect with the driving device of tracking module, spray target detection module, plane positioning module, spraying control module, travelling control module and upper and lower adjustment mechanism respectively, and multiple spray heads of the spray robot are arranged in the upper and lower adjustment mechanism.The driving device of the upper and lower adjustment mechanism includes lifting motor and lifting motor driver, the I/O port connection corresponding with the main control module of the lifting motor driver of the upper and lower adjustment mechanism.The utility model is suitble to teaching to apply, and student quickly upper hand, driving spray robot can complete setting task.
Description
Technical field
The utility model belongs to teaching spray robotic technology field, and in particular to a kind of control system for the robot that sprays
System.
Background technique
Spray robot project is a sub-project of China services robot contest.Competition area, referring to Fig. 1.Than
During match, robot is from origin zone, autonomous to complete to spray by the area A, the area B, the area C, the area D, cannot be remotely controlled.Wherein,
The area A is to spray to target, and the area B is fixed tree-like spray, it is desirable that tree-like outside cannot be sprayed on when spray, the area C is for the different age of trees
Tree sprays, and every kind of tree-like different parts have different spray requirements, and the area D is to the tree-like spray of deformation.In the area A, the area B
On heart line, there is robot ambulation guide line (white matt paper slip), in spray drug operation place A1, A2, A3, B2, B3, B4, C2,
C3, C4 and D1, D2 have spray place indication wire (white matt paper slip).
According to laws of the game, during the games, robot needs can identify racing track guide wire, in the part of not guide wire
Section can independently complete location tasks, and complete spray task.To complete match task, other than mechanical mechanism design,
Will also be according to the match good control system of task design, otherwise, robot can not independently complete task.
Current experimental facilities, the especially experimental facilities of higher education, it is less for the experimental facilities of contest link exploitation,
Just start the student to enter the lists, proximate nutrition is fuzzy, it is therefore necessary to develop relevant spray robot, to student take in competition into
Row guidance.
Utility model content
In order to solve above-mentioned technical problem, the utility model devises a kind of control system of robot that sprays,
Robot tracking, plane positioning, spray can be achieved.
In order to solve above-mentioned technical problem, the utility model uses following scheme:
A kind of control system for the robot that sprays, including main control module, the main control module respectively with tracking module, spray target
The driving device company of detection module, plane positioning module, spraying control module, travelling control module and upper and lower adjustment mechanism
It connects, multiple spray heads of the spray robot are arranged in the upper and lower adjustment mechanism.
Further, the spraying control module includes multiple solenoid valves and electromagnetic relay, the solenoid valve and the spray
Head connects one to one to control the flow of corresponding spray head, and booster pump opens in the electromagnetic relay control pesticide spraying system
Stop.
Further, the driving device of the upper and lower adjustment mechanism includes lifting motor and lifting motor driver, the liter
Motor driver I/O port connection corresponding with the main control module is dropped.
Further, the upper and lower adjustment mechanism further include the screw rod being vertically arranged and with screw rod cooperation feed screw nut,
The feed screw nut is cooperated by sliding block and guide rail, and the guide rail is arranged on rail brackets；The upper and lower ends of the screw rod point
It is not rotatably connected with the upper bottom plate of the rail brackets, the lower end of the screw rod is connected by shaft coupling and lifting motor
It connects.
Further, the multiple spray head is divided into two groups, is separately positioned on the both ends of spray plate, and the spray plate passes through spray plate connection
Plate is connect with the feed screw nut.
Further, the lifting motor is stepper motor.
Further, the tracking module includes preceding tracking module, rear tracking module, left tracking module and right tracking module.
Further, the preceding tracking module and the rear tracking module respectively include seven sets of tracking sensors；The left side is followed
Mark module and the right tracking module respectively include a set of tracking sensor.
Further, the tracking sensor uses gray-scale sensor.
Further, the spray target detection module includes that the photoelectricity being arranged at left and right sides of the chassis of the running gear is opened
It closes.
Further, the travelling control module includes four wheels being arranged under the robot chassis, each wheel
It is driven respectively by corresponding wheel electrical machine and wheel electrical machine driver, each wheel electrical machine driver is connected to the main control module
Corresponding pin.
Further, the wheel electrical machine is direct current generator.
Further, the main control chip of the main control module is single-chip microcontroller.
When work, the main control module sends wheel electrical machine control signal to corresponding wheel electrical machine driver, and driving is each
Wheel electrical machine forward or reverse, realizes the basic exercises movement such as advance, retrogressing, left-hand rotation, right-hand rotation, stopping of spray robot；Institute
Main control module is stated according to the different detection signals of each tracking module, judges the walking orientation of spray robot, constantly to correct, make
Robot follows walking guide line walking according to the process of programming；Do not walk guide line when, the main control module can be with
The plane positioning module is called, navigation is completed；The signal that the main control module is detected according to the spray target detection module, is pressed
Program executes spray movement；The main control module can control the movement of lifting motor driver, to drive lifting motor, screw rod
Rotation, to make feed screw nut, spray head lifting.
The control system of the spray robot has the advantages that
(1) the utility model can be in the match scene of setting, according to laws of the game, and automatic identification is walked guide line,
There is no the part way of guide wire, independently complete task, completes fixed point spray task.
(2) the utility model is suitble to teaching to apply, and student quickly upper hand, driving spray robot can complete setting and appoint
Business.
(3) the utility model is at low cost, practical.
Detailed description of the invention
Fig. 1: competition venue schematic diagram in the utility model；
Fig. 2: the modular construction schematic diagram for the robot control system that sprays in the utility model embodiment；
Fig. 3: the structural schematic diagram of pesticide spraying system in the utility model embodiment；
Fig. 4: layout structure schematic diagram in chassis in the utility model embodiment；
Fig. 5: master control program flow chart in the utility model embodiment；
Fig. 6: front and back tracking program flow diagram in the utility model embodiment；
Fig. 7: plane positioning system program flow diagram in the utility model embodiment；
Fig. 8: pesticide spraying system program flow diagram in the utility model embodiment.
Description of symbols:
1-main control module；2-tracking modules；21-left tracking modules；22-preceding tracking modules；23-right tracking modules；
24-rear tracking modules；3-spray target detection modules；31-left optoelectronic switches；32-right optoelectronic switches；4-pesticide spraying systems；41—
Booster pump；42-medicine-chests；43-spraying control modules;431-solenoid valves；432-electromagnetic relays；45-spray heads；46-sprays
Plate；47-spray plate connectors；5-plane positioning modules；6-upper and lower adjustment mechanism；61-lifting motors；62-lifting motors
Driver；63-feed screw nuts；64-sliding blocks；65-guide rails；66-rail brackets；67-screw rods；68-shaft couplings；7-rows
Walk control module；71-wheel electrical machines；72-wheel electrical machine drivers；73-wheels；8-chassis.
Specific embodiment
With reference to the accompanying drawing, the utility model is described further:
Fig. 2 to Fig. 8 shows a kind of embodiment of the utility model spray robot control system.Fig. 2 is this implementation
The modular construction schematic diagram of spray robot control system in mode.
As shown in Fig. 2, the spray robot control system in present embodiment, including main control module 1, main control module 1 divide
Not with tracking module 2, spray target detection module 3, plane positioning module 5, spraying control module 43, travelling control module 7 and on
The driving device of lower regulating mechanism 6 connects, and multiple spray heads 45 of the spray robot are arranged in upper and lower adjustment mechanism 6.
As shown in figure 3, Fig. 3 is the structural schematic diagram of pesticide spraying system in present embodiment, spraying control module 43 includes more
A solenoid valve 431 and electromagnetic relay 432, solenoid valve 431 are connected one to one with spray head 45 to control corresponding spray head 45
Flow, electromagnetic relay 432 control the start and stop of booster pump 41 in pesticide spraying system 4.Pesticide spraying system 4 further includes medicine-chest 42, booster pump
41 and several spray heads 45, each spray head 45 connect by corresponding water pipe, solenoid valve 43 with the water outlet of booster pump 41 respectively, increasing
The water inlet of press pump 41 is connect with the water outlet of medicine-chest 42；The start and stop of the control booster pump 41 of electromagnetic relay 44.
As shown in Figures 2 and 3, pesticide spraying system 4 further includes upper and lower adjustment mechanism 6, and several spray heads 45 of pesticide spraying system 4 are arranged
In upper and lower adjustment mechanism 6, the I/O port connection corresponding with main control module 1 of the lifting motor driver 62 of upper and lower adjustment mechanism 6.
Upper and lower adjustment mechanism 6 further include the screw rod 67 being vertically arranged and the feed screw nut 63 with the cooperation of screw rod 67.Feed screw nut 63 is logical
It crosses sliding block 64 and guide rail 65 cooperates, guide rail 65 is arranged on rail brackets 66；The upper and lower ends of screw rod 67 respectively with rail brackets
66 upper bottom plate is rotatably connected, and the lower end of screw rod 67 is connect by shaft coupling 68 with lifting motor 61.Several spray heads 45
The both ends of spray plate 46 are set, and spray plate 46 is connect by spraying plate connector 47 with feed screw nut 63.
In the present embodiment, spray plate 46 is a U-board structure, is respectively arranged with spray head 45, U on the both side plate of U-board structure
The bottom plate center of the hardened structure of shape is provided with several connecting holes to connect with spray plate connector 47.
In the present embodiment, spray plate connector 47 is a L shaped plate structure, and the transverse slat of L shaped plate structure is connect with spray plate 46, L shape
The riser of hardened structure is connect with feed screw nut 63.
In the present embodiment, be machined with longitudinal U-type groove on rail brackets 66, U-type groove slot bottom be provided with several mounting holes with
Guide rail 65 is installed；The ontology of guide rail 65 is a rectangular list structure, and the two sides of rectangular list structure are respectively arranged with step surface
To form sliding rail；Multiple threaded connection holes are additionally provided in rectangular list structure to connect with rail brackets 66.
In the present embodiment, lifting motor 61 is stepper motor.
As shown in Figure 2 and Figure 4, Fig. 4 is layout structure schematic diagram in chassis in present embodiment, and tracking module 2 is followed including a left side
Mark module 21, preceding tracking module 22, right tracking module 23 and rear tracking module 24.Preceding tracking module 22 and rear tracking module 24 are divided
It Bao Kuo not seven sets of tracking sensors；Left tracking module 21 and right tracking module 23 respectively include a set of tracking sensor.This implementation
In example, tracking sensor uses gray-scale sensor.Preceding tracking module 22, rear tracking module 24, left tracking module 21 and right tracking
Module 23 can detecte the walking guide line of spray robot, and main control module 1 is according to preceding tracking module 22, rear tracking module
24, the different detection signals of left tracking module 21 and right tracking module 23, judge the walking orientation of spray robot, constantly to rectify
Just, enable robot by the process of programming, follow guide line walking.When encountering right (or left) and turning right angle white line, right (or
It is left) side tracking sensor sweeps to first, then triggers external interrupt 0, and control robot turns right about 90 degree of (or left-hand rotation).
As shown in Figure 2, Figure 3 and Figure 4, spray target detection module 3 includes the left light that 8 left and right sides of chassis of robot is arranged in
Electric switch 31 and right optoelectronic switch 32.Left optoelectronic switch 31 and right optoelectronic switch 32, can detecte front obstacle, detecting distance
It can be by left optoelectronic switch 31, the adjusting circuit configuration of right optoelectronic switch 32.In robot spray tasks make progress, such as scheme
Shown in 1, robot does not have spray drug operation to prompt point in the area B, so, robot needs judge whether to reach pre- in this course
Determine place, differentiates by the way that whether left optoelectronic switch 31 and right optoelectronic switch 32 detect barrier (spray target).Main control module 1 exists
It receives left optoelectronic switch 31 or after right optoelectronic switch 32 detects the signal of front obstacle (spray target), lifting motor is called to drive
Dynamic program, driving lifting motor 61 rotate, and screw rod 67 is driven to rotate, and so that spray plate 46 is risen scheduled distance, then execute spray
Task.The positioning of left photoelectricity switch 31, the position, it can be achieved that area B sprays of right optoelectronic switch 32, when spray robot tracking to B
Target is scanned by optoelectronic switch in area, and scanning is transmitted to 1 one low levels of main control module after, and the robot that sprays at this time stops
Walking, sprays.
As shown in Figure 2 and Figure 4, running gear 7 includes four wheels 73 under chassis 8, and each wheel 73 is respectively by phase
Corresponding wheel electrical machine 71 and wheel electrical machine driver 72 drive.In the present embodiment, wheel electrical machine 71 is direct current generator.Each
Wheel electrical machine 71 needs 3 control signals EN1, IN1, IN2, and EN1 is enable signal, selects PWM connection EN1 pin all the way, adjusts
The duty ratio of whole PWM, the revolving speed of adjustable wheel electrical machine 71 control IN1, IN2 by two digits signal, i.e., controllable vehicle
The forward and backward of turbin generator 71.In the present embodiment, two electrodes IN1, IN2 of wheel electrical machine 71 are direction of motor rotation control letters
Number, when respectively 1,0, motor is rotated forward, conversely, motor reversal.Therefore, main control module 1 sends motor control signal to corresponding
Wheel electrical machine driver 72, can control the rotating forward, reversion and speed of corresponding wheel electrical machine 71 to adjust, realize spray robot
Advance, retrogressing, left-hand rotation, right-hand rotation, speed adjust and stop etc. basic exercises movement.
In present embodiment, the control core of main control module 1 is single-chip microcontroller, the corresponding I/O port of main control module 1 respectively with
Tracking module 2, spray target detection module 3, plane positioning module 5, spraying control module 43, travelling control module 7 and upper downward
Save the driving device connection of mechanism 6.The plane positioning module 5 of plane positioning system passes the position data of robot back in real time, leads to
It crosses and is compared with the numerical value of single-chip microcontroller setting, judge order, realize positioning.
Spray machine people participates in the sub-project of Chinese robot contest, the arena of the spray robot compulsory exercise
Ground, as shown in Figure 1, ground is green carpet, long 4000mm, wide 3300mm.The guide line of robot ambulation is put for width 24mm
Enter white matt paper slip (double-sided adhesive), dotted line guide line is not present in play.In match, robot needs to complete spray and appoints
Business.According to laws of the game, during the games, robot needs can identify starting line, stop line and racing track guide line, not have
The part way of guide wire can independently complete task.Robot is from origin zone, by the area A, the area B, the area C, the area D, respectively into
Row becomes tree-like spray to target spray, fixed tree-like spray.Wherein, the target of spray simulates tree-like equal spray target, is printed upon A
On 3 paper (297mm × 420mm).Wherein, there is guide line in the area A, B, and there is operating location indication wire in the area A, C, D.The match of spray robot
It in, is distinguished by the difficulty of spray, is followed successively by the area A, the area B, the area C, the area D, games results are calculated with score height.
White tape line is posted on carpet since match uses bottle green carpet referring to Fig. 1, tracking module uses gray scale
Sensor, the transmitting tube of gray-scale sensor emit light to road surface, encounter white background and reflected, the reception pipe of gray-scale sensor connects
Reflected light is received, after Schmidt trigger shaping, exports low level；It when light encounters bottle green carpet, is then absorbed, receives
Pipe is not received by reflected light, after Schmidt trigger shaping, exports high level.In running gear chassis front, seven tunnels are set
Tracking sensor all the way is respectively arranged in tracking sensor, arranged on left and right sides, and seven road tracking sensors are arranged in tail portion.Detect the white of ground
Adhesive tape makes the corresponding I/O pin of main control module 1 generate associated voltage variation, to learn robot traffic direction and white track
The relationship of line.The label of seven road tracking sensor of front, is from left to right L1, L2, L3, M1, R3, R2, R1 respectively；Seven tunnel of rear
The label of tracking sensor is from left to right L4, L5, L6, M2, R6, R5, R4 respectively.Forward and backward tracking process, as shown in Figure 6.
After tracking sensor detects white wire, low level signal can be returned to main control module 1.When M1 detects white line, if
M2 also detects that white line, then robot keeps straight on；If M1 detects that white line is not detected in white line, M2, then according to rear tracking module
Judge that robot motion, L4, L5, L6 detect white line, trolley can be made to move right, R4, R5, R6 detect white line, can make small
Vehicle moves downward；If white line is not detected in M1, the movement of robot is judged according to preceding tracking module, L1, L2, L3 are detected
White line can be such that trolley moves downward, and R1, R2, R3 detect white line, trolley can be made to move right.To realize white line position always
In dolly chassis axis line position.
The flow chart of plane positioning system, referring to Fig. 7.The plane positioning module of plane positioning system can pass number back in real time
According to, including trolley plan-position x, y-coordinate and angle, it is compared by the numerical value with program setting, judges order, if
X, y, angle value are different from setting value, then carry out algorithm design, make trolley by advancing, retreating, turning progress position correction, when
When the numerical value passed back is equal with setting value, trolley stops, and then carries out the movement of next step.
The flow chart of spray task, referring to Fig. 8.The tracking module 22 before receiving of main control module 1 detects spray drug operation
After prompt point, left optoelectronic switch 31 or right optoelectronic switch 32 detect the signal of front obstacle, the single-chip microcontroller of main control module 1 is sent out
It send and instructs to lifting motor driver 62, lifting motor 61 is driven to rotate, feed screw nut 63 is driven to go up and down, reach spray plate 46 pre-
Fixed spray height, then main control module 1 is by control 44 on-off of electromagnetic relay, to control the opening and closing of booster pump 41, master control mould
Block 1 controls the flow of spray head by controlling each solenoid valve 43.
The main control process that spray machine is manually made, referring to Fig. 5.Robot main control module 1 and each wheel electrical machine driver,
Each tracking sensor, lifting motor combine, and control tracking, the positioning, spray of robot.Robot from starting point, before,
Tracking module makes robot successively pass through A1, A2, A3 afterwards, and completes spray task.Then, using forward and backward tracking module and it is left,
Right optoelectronic switch successively passes through each target in the area B, and completes to spray.Due to after B5 point, place without guide line, so using
Plane positioning module completes the spray task in the area C.
The utility model can be in the match scene of setting, and according to laws of the game, automatic identification walking guide line is not having
The part way of guide wire independently completes task, completes fixed point spray task.
The utility model is suitble to teaching to apply, and student quickly upper hand, driving spray robot can complete setting task.
Illustrative description has been carried out to the utility model above in conjunction with attached drawing, it is clear that the realization of the utility model not by
The limitation of aforesaid way, if the method concept of the utility model and the various improvement of technical solution progress are used, or without
It improves and the conception and technical scheme of the utility model is directly applied into other occasions, in the protection scope of the utility model
It is interior.
Claims (10)
1. it is a kind of spray robot control system, which is characterized in that including main control module, the main control module respectively with tracking
Module, the drive for spraying target detection module, plane positioning module, spraying control module, travelling control module and upper and lower adjustment mechanism
Multiple spray heads of dynamic device connection, the spray robot are arranged in the upper and lower adjustment mechanism；The upper and lower adjustment mechanism
Driving device include lifting motor and lifting motor driver, the lifting motor driver is corresponding with the main control module
I/O port connection.
2. the control system of spray robot according to claim 1, which is characterized in that the upper and lower adjustment mechanism are also wrapped
The screw rod being vertically arranged and the feed screw nut with screw rod cooperation are included, the feed screw nut is cooperated by sliding block and guide rail, described
Guide rail is arranged on rail brackets；The upper and lower ends of the screw rod rotatably connect with the upper bottom plate of the rail brackets respectively
It connects, the lower end of the screw rod is connect by shaft coupling with lifting motor.
3. the control system of spray robot according to claim 2, which is characterized in that the multiple spray head is divided into two
Group, is separately positioned on the both ends of spray plate, and the spray plate is connect by spraying plate connecting plate with the feed screw nut.
4. the control system of spray robot according to claim 1,2 or 3, which is characterized in that the spraying control mould
Block includes multiple solenoid valves and electromagnetic relay, and the solenoid valve is connected one to one with the spray head to control corresponding spray head
Flow, the start and stop of booster pump in electromagnetic relay control pesticide spraying system.
5. the control system of spray robot according to claim 1,2 or 3, which is characterized in that the tracking module packet
Include preceding tracking module, rear tracking module, left tracking module and right tracking module.
6. the control system of spray robot according to claim 5, which is characterized in that the preceding tracking module and described
Tracking module respectively includes seven sets of tracking sensors afterwards；The left tracking module and the right tracking module respectively include a set of follow
Mark sensor.
7. the control system of spray robot according to claim 6, which is characterized in that the tracking sensor is using ash
Spend sensor.
8. the control system for the robot that according to claim 1, sprays described in 2,3,6 or 7, which is characterized in that the spray target inspection
Surveying module includes the optoelectronic switch being arranged at left and right sides of the chassis of the running gear.
9. the control system for the robot that according to claim 1, sprays described in 2,3,6 or 7, which is characterized in that the walking control
Molding block includes four wheels being arranged under the robot chassis, and each wheel is respectively by corresponding wheel electrical machine and vehicle
The driving of turbin generator driver, each wheel electrical machine driver are connected to the corresponding pin of the main control module.
10. the control system for the robot that according to claim 1, sprays described in 2,3,6 or 7, which is characterized in that the master control mould
The main control chip of block is single-chip microcontroller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820271824.6U CN208246824U (en) | 2018-02-27 | 2018-02-27 | A kind of control system for the robot that sprays |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820271824.6U CN208246824U (en) | 2018-02-27 | 2018-02-27 | A kind of control system for the robot that sprays |
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| Publication Number | Publication Date |
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| CN208246824U true CN208246824U (en) | 2018-12-18 |
Family
ID=64608661
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| CN201820271824.6U Expired - Fee Related CN208246824U (en) | 2018-02-27 | 2018-02-27 | A kind of control system for the robot that sprays |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098779A (en) * | 2018-02-27 | 2018-06-01 | 西北农林科技大学 | A kind of control system for the robot that sprays |
| CN111399402A (en) * | 2020-02-28 | 2020-07-10 | 浙江科技学院 | Agricultural Internet of things monitoring system and method |
-
2018
- 2018-02-27 CN CN201820271824.6U patent/CN208246824U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098779A (en) * | 2018-02-27 | 2018-06-01 | 西北农林科技大学 | A kind of control system for the robot that sprays |
| CN111399402A (en) * | 2020-02-28 | 2020-07-10 | 浙江科技学院 | Agricultural Internet of things monitoring system and method |
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Granted publication date: 20181218 Termination date: 20200227 |