CN208888654U - A kind of agricultural robot obstacle avoidance system - Google Patents
A kind of agricultural robot obstacle avoidance system Download PDFInfo
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- CN208888654U CN208888654U CN201821819647.7U CN201821819647U CN208888654U CN 208888654 U CN208888654 U CN 208888654U CN 201821819647 U CN201821819647 U CN 201821819647U CN 208888654 U CN208888654 U CN 208888654U
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Abstract
The utility model discloses a kind of agricultural robot obstacle avoidance systems, system includes: main controller, collected distance signal is sent to the range unit of main controller, range unit is mounted in robot, it is connected with main controller, range unit includes: binocular camera and industrial personal computer, and binocular camera is connected with industrial personal computer；Collected angle information is sent to the angle acquisition device of main controller, is mounted on the front-wheel of robot, is connected by communication bus with main controller；The avoidance warning device for receiving the alarm signal that main controller is sent, is connected with main controller；The motor driver for receiving the motor drive signal that main controller is sent, is connected with main controller；Power supply is connected with motor driver and is powered for main controller, range unit, angle acquisition device, avoidance warning device.It using the utility model embodiment, is found a view by binocular camera, and binocular camera has detecting distance is big, precision is high, detection of obstacles discrimination is high advantage.
Description
Technical field
The utility model relates to robot obstacle-avoiding design field used in farming more particularly to a kind of farming machines
People's obstacle avoidance system.
Background technique
As a large agricultural country, agricultural production occupies an important position always in China in China, with the epoch it is continuous into
Step, the production management planning of agricultural are changing simultaneously, and mechanized agriculture is also constantly being obtained promoting and applied.It is close
Year, the unmanned technology of agricultural robot has obtained development energetically, and barrier avoiding function ensure that agricultural robot in operation
The voluntarily adjusting of direction of travel in journey avoids colliding, grazing, is the important component of agricultural robot.Currently, domestic
Most of agricultural robot is all made of the sensors such as infrared, ultrasonic wave as range sensor, but is carried out using the above sensor
The problems such as when barrier checks, it is limited that there are detecting distances, and precision is not high, is easy to appear erroneous detection and missing inspection.
Such as application No. is 201720495293.4 Chinese utility model patent applications, disclose a kind of based on DSP's
The design of Obstacle Avoidance System of Intelligent Carriage, system by dsp chip, multiplexer, ultrasonic sensor modules, button, extend out and deposit
Reservoir and intelligent carriage composition, wherein dsp chip is the core of system, using on pin by key control trolley starting and
Stop, controlling No. 4 ultrasonic sensor Polling barriers using multiplexer, while realizing using circuit drives circuit
Control to moving of car direction, to achieve the purpose that effective avoidance.Although the system can be carried out avoidance, but what it was utilized
It is ultrasonic sensor, sensitivity is too low, and the scope of application is small, and distance of reaction is short.
For another example application No. is 201320004971.4 Chinese utility model patent applications, disclose a kind of based on more sensings
The mountain farming robot obstacle-avoiding system of device information fusion mainly includes visual sensor module, ultrasonic sensor modules, red
Outer sensor module, data fusion module and control module.Surrounding's ring that the dsp processor of each sensor module will be acquired respectively
Border obstacle information is handled；The DSP processor of data fusion module receives each sensor module treated barrier
Information simultaneously merges it by specific fusion rule, and fused data are transferred to the arm processor of control module；It should
Arm processor carries out behaviour decision making and control, completes mountain farming robot obstacle-avoiding by control actuator.Although the system plus
Enter visual information, but its only CCD camera for using, the three-dimensional camera of object cannot be obtained, the detection to barrier
Discrimination is not high enough.
The utility model is based on above-mentioned analysis, it is intended to develop a set of detecting distance is big, precision is high, detection of obstacles identification
The high obstacle avoidance system of rate.
Utility model content
The utility model embodiment is designed to provide a kind of agricultural robot obstacle avoidance system, it is intended to pass through ZDE binocular
Camera is found a view, and ZDE binocular camera has detecting distance is big, precision is high, detection of obstacles discrimination is high advantage.Specifically
Technical solution is as follows:
In order to achieve the above objectives, the utility model embodiment provides a kind of agricultural robot obstacle avoidance system, the system
Include:
Main controller,
Collected distance signal is sent to the range unit of the main controller, the range unit is mounted on robot
On, it is connected with the main controller, the range unit includes: ZED binocular camera and industrial personal computer, the ZED binocular camera and institute
Industrial personal computer is stated to be connected；
Collected angle information is sent to the angle acquisition device of the main controller, is mounted on the front-wheel of the robot
On, it is connected by communication bus with the main controller；
The avoidance warning device for receiving the alarm signal that the main controller is sent, is connected with the main controller；
The motor driver for receiving the motor drive signal that the main controller is sent, is connected with the main controller；
Power supply is the main controller, the range unit, the angle acquisition device, the avoidance warning device and described
Motor driver, which is connected, to be powered.
In a kind of implementation of the utility model, further includes: detection circuit, the detection circuit and the range unit
It is connected with the main controller, and the detection circuit is mounted on leg or the foot of the robot；
The detection circuit, comprising: first resistor, second resistance, 3rd resistor, the 4th resistance, the 5th resistance, the 6th electricity
Resistance, the 7th resistance, the 8th resistance, the 9th resistance, first capacitor, the second capacitor, third capacitor, the 4th capacitor, infrared sensor,
First triode, the second triode, third transistor, the first operating voltage, the second operating voltage, third operating voltage；
First operating voltage is connected by the first resistor with the first input end of the infrared sensor, described
Second input terminal of infrared sensor is connected with the collector of first triode；First output end of the infrared sensor
It is connected by the second resistance with the second operating voltage V, and the first output end of the infrared sensor and described the
One end of three resistance is connected, and the other end of the 3rd resistor, one end of the first capacitor and the main controller are connected；
One end of the emitter of first triode and the 4th resistance, one end of second capacitor, described the
One end of five resistance is connected, the other end of the 4th resistance, the other end of second capacitor and second triode
Base stage is connected, and the collector of second triode is connected with one end of the base stage of first triode, the 6th resistance,
The other end of 6th resistance is connected with the collector of one end of the 7th resistance, the third transistor, the third
The base stage of triode is connected by the 8th resistance, the third capacitor with the main controller；The third transistor
Base stage be connected by the 9th resistance with the emitter of the third transistor, third operating voltage V；
The emitter of the third transistor passes through the 4th capacity earth；It is the other end of 7th resistance, described
The second output terminal of infrared sensor, the other end of the first capacitor, the other end of the 5th resistance, the two or three pole
The emitter of pipe is grounded；
Wherein, the model STM32F103ZET6 of the main controller.
In a kind of implementation of the utility model, the motor driver include: motor drive ic, first shine
Diode, the second light emitting diode, third light emitting diode, the 4th light emitting diode, the tenth resistance, eleventh resistor；
First output end of the motor drive ic is connected with one end of the tenth resistance, the tenth resistance it is another
One end is connected with the cathode of the anode of first light emitting diode, second light emitting diode, the motor drive ic
Second output terminal be connected with the anode of the cathode of first light emitting diode, second light emitting diode, the motor
The first output end and second output terminal of driving chip are connected with first motor；
The third output end of the motor drive ic is connected with one end of the eleventh resistor, the eleventh resistor
The other end be connected with the cathode of the anode of the third light emitting diode, the 4th light emitting diode, the motor driven
4th output end of chip is connected with the anode of the cathode of the third light emitting diode, the 4th light emitting diode, described
The third output end and the 4th output end of motor drive ic are connected with the second motor.
In a kind of implementation of the utility model, the motor driver further include: first diode, the two or two pole
Pipe, third diode, the 4th diode, the 5th diode, the 6th diode, the 7th diode, the 8th diode；
First output end of the motor drive ic and the anode of the first diode and the 5th diode
Cathode is connected,
The anode and the 6th diode of the second output terminal of the motor drive ic and second diode
Cathode is connected,
The anode and the 7th diode of the third output end of the motor drive ic and the third diode
Cathode is connected；
4th output end of the motor drive ic and the anode of the 4th diode and the 8th diode
Cathode is connected；
The cathode connection of the first diode, second diode, the third diode, the 4th diode
Operating voltage, the 5th diode, the 6th diode, the 7th diode, the 8th diode anode connect
Ground.
In a kind of implementation of the utility model, the range unit further include: infrared distance measuring device；Or；Ultrasound
Wave ranging device.
In a kind of implementation of the utility model, the avoidance warning device includes warning circuit, the warning circuit
It include: twelfth resistor, thirteenth resistor, diode, the 4th triode, the 5th light emitting diode, loudspeaker；
It is connected by the twelfth resistor with the cathode of the diode, the anode of the diode and the described 4th 3
The base stage of pole pipe is connected, the emitter ground connection of the 4th triode, the collector of the 4th triode and the 5th hair
Optical diode cathode is connected, and the 5th light-emitting diodes tube anode is connected by thirteenth resistor with the operating voltage, described
Loudspeaker is connected between the collector of the 4th triode, the operating voltage.
Using a kind of agricultural robot obstacle avoidance system provided by the utility model, realize:
1, it is found a view by ZDE binocular camera, and ZDE binocular camera has that detecting distance is big, precision is high, obstacle quality testing
Survey the high advantage of discrimination；
2, discovery road conditions can be realized by detection circuit, avoids falling；
3, the channel that two motors of agricultural robot the same side are connect to L298N module, controls intelligence by main controller
The left-hand rotation of energy trolley turns right, moves forward and backward, and fast implements the movement of agricultural robot；
4, this 8 diodes of D1-D8 are known as freewheeling diode, prevent voltage and current to be mutated, play the role of smooth electric current.
Detailed description of the invention
Fig. 1 is a kind of structure chart of agriculture robot obstacle-avoiding system in the utility model embodiment；
Fig. 2 is a kind of circuit diagram of agriculture robot obstacle-avoiding system in the utility model embodiment；
Fig. 3 is another circuit diagram of agriculture robot obstacle-avoiding system in the utility model embodiment；
Fig. 4 is another circuit diagram of agriculture robot obstacle-avoiding system in the utility model embodiment.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
As shown in Figure 1, a kind of agricultural robot obstacle avoidance system provided by the utility model, the system comprises: main controller
11, collected distance signal is sent to the range unit 12 of the main controller 11, the range unit 12 is mounted on machine
On people, it is connected with the main controller 11, the range unit 12 includes: ZED binocular camera and industrial personal computer, the ZED binocular phase
Machine is connected with the industrial personal computer；Collected angle information is sent to the angle acquisition device 13 of the main controller 11, is mounted on
On the front-wheel of the robot, it is connected by communication bus with the main controller 11；Receive the alarm that the main controller 11 is sent
The avoidance warning device 14 of signal is connected with the main controller 11；Receive the motor drive signal that the main controller 11 is sent
Motor driver 15 is connected with the main controller 11；Power supply 16 is the main controller 11, the range unit 12, the angle
Degree collector 13, the avoidance warning device 14 are connected with the motor driver 15 and are powered.
It should be noted that range unit 12 be position for measuring the place of current robot and barrier away from
From, to realize automatic obstacle-avoiding, therefore, measure and the distance signal that calculates be sent to main controller 11, for main controller 11 into
Row processing.
Specifically, in the utility model, range unit be image is acquired by ZED binocular camera, and by industrial personal computer into
Row image procossing and analysis, industrial personal computer are the prior art to the analysis of image processing, be not belonging to the utility model inventive point and
Protection scope, this will not be repeated here.One of inventive point of the utility model is to carry out Image Acquisition using ZED binocular camera, by
In ZED binocular camera visual capacity from CUDA, that is, the programming model of the top figure video card of Nvidia.It allows operation
The computer of camera software kit has the ability to go to handle the real time field depth of highest 4416x1242 resolution ratio with the speed of 15fps
Map, therefore have that relatively good acquisition speed, acquisition picture depth is relatively wide, precision is high, obstacle for the acquisition of present image
The high advantage of analyte detection discrimination.
In addition, angle acquisition device 13 is realized by angular transducer, the front wheel rotation speed of robot is acquired,
And be sent to main controller 11 and handled, main controller 11 according to collected revolving speed and range unit 12 acquisition come range information
It is capable of the work of driving motor driving device 15, which is the means that those skilled in the art may be implemented, the utility model
This will not be repeated here.
Specifically, the semaphore that avoidance warning device 14 can receive main controller 11 is alarmed to remind in farming machine
In the case that people can not voluntarily be handled, user is reminded to carry out avoidance processing.
In a kind of realization, further includes: detection circuit, the detection circuit and the range unit 12 and the main controller 11
It is connected, and the detection circuit is mounted on leg or the foot of the robot；The detection circuit, comprising: first resistor
R1, second resistance R2,3rd resistor R3, the 4th resistance R4, the 5th resistance R5, the 6th resistance R6, the 7th resistance R7, the 8th resistance
R8, the 9th resistance R9, first capacitor C1, the second capacitor C2, third capacitor C3, the 4th capacitor C4, infrared sensor U1, the one or three
Pole pipe Q1, the second triode Q2, third transistor Q3, the first operating voltage V1, the second operating voltage V2, third operating voltage
V3；The first operating voltage V1 is connected by the first resistor R1 with the first input end of the infrared sensor U1, institute
The second input terminal for stating infrared sensor U1 is connected with the collector of the first triode Q1；The of the infrared sensor U1
One output end is connected by the second resistance R2 with the second operating voltage V2, and the first of the infrared sensor U1 is defeated
Outlet is connected with one end of the 3rd resistor R3, the other end of the 3rd resistor R3, the first capacitor C1 one end, with
And the main controller 11 is connected；The emitter of the first triode Q1 and one end, second electricity of the 4th resistance R4
Hold one end of C2, one end of the 5th resistance R5 is connected, the other end of the 4th resistance R4, the second capacitor C2 it is another
One end is connected with the base stage of the second triode Q2, and the collector of the second triode Q2 is with the first triode Q1's
Base stage, one end of the 6th resistance R6 are connected, the other end of the 6th resistance R6 and one end, the institute of the 7th resistance R7
The collector for stating third transistor Q3 is connected, and the base stage of the third transistor Q3 passes through the 8th resistance R8 resistance, described
Third capacitor C3 is connected with the main controller 11；The base stage of the third transistor Q3 passes through the 9th resistance R9 and described the
Emitter, the third operating voltage V3 of three triode Q3 is connected；The emitter of the third transistor Q3 passes through the 4th electricity
Hold C4 ground connection；The other end of the 7th resistance R7, the second output terminal of the infrared sensor U1, the first capacitor C1
The emitter ground connection of the other end, the other end of the 5th resistance R5, the second triode Q2；Wherein, the main controller 11
Model STM32F103ZET6.
As shown in Figure 2, it is to be understood that infrared sensor U1, which can be, is mounted on agricultural robot for infrared diode
Step (direction of advance and/or direction of retreat that are specifically as follows step), can be by being received after at least one infrared emission
The infrared light of return, different by the intensity for receiving light, the electric current of infrared sensor U1 will be different.Then infrared
The electric current of sensor U1 is sent to main controller 11 by resistance R3, and specific resistance R2 is pull-up resistor, and capacitor C1 is filtered electrical
Hold.
When infrared diode needs to shine, since the base stage of third transistor Q3 conducting is connected with main controller, institute
When using main controller output as low level, the first operating voltage V1 is by the collector of resistance R1 to the first triode Q1, and the
In the case that three operating voltage V3 are high level, the first triode Q1, the second triode Q2, third transistor Q3 conducting, otherwise,
This three triode off states.Therefore, by the control of main controller may be implemented infrared sensor it is luminous whether, Yi Jitong
Infrared sensor calculating is crossed, which is the prior art, and the embodiment of the present invention is not done specifically.
Therefore, by the embodiment of the utility model Fig. 2, according to the environmental change of agricultural robot operation, ZDE binocular
Sensor is not easy to collect the partial region under robot foot, and if installs a ZDE binocular sensor valence again here
Lattice are higher.In order to which cost and the accurate dual consideration of measurement can detect in time in the detection circuit of foot, robot installation
The variation on road surface prevents agricultural robot since the complexity of operating environment causes to fall with special, leads to the problem of damage.
In a kind of implementation of the utility model, the motor driver 15 includes: motor drive ic U2,
One light emitting diode L1, the second light emitting diode L2, third light emitting diode L3, the 4th light emitting diode L4, the tenth resistance
R10, eleventh resistor R11；One end of the first output end OUT1 and the tenth resistance R10 of the motor drive ic U2
It is connected, anode, the second light emitting diode L2 of the other end of the tenth resistance R10 and the first light emitting diode L1
Cathode be connected, the cathode of the second output terminal OUT2 of the motor drive ic U2 and the first light emitting diode L1, institute
The anode for stating the second light emitting diode L2 is connected, the first output end OUT1 and second output terminal of the motor drive ic U2
OUT2 is connected with first motor；The third output end OUT3's of the motor drive ic U2 and eleventh resistor R11
One end is connected, the anode of the other end of the eleventh resistor R11 and the third light emitting diode L3, the described 4th luminous two
The cathode of pole pipe L4 is connected, the 4th output end OUT4 of the motor drive ic U2 and third light emitting diode L3's
Cathode, the anode of the 4th light emitting diode L4 are connected, the third output end OUT3 and the 4th of the motor drive ic U2
Output end OUT4 is connected with the second motor.
Chip model used by motor driver is L298N, and L298N is dedicated drive integrated circult, belongs to dual H-bridge
Integrated circuit, the driving plate can drive two-way direct current generator, and when the ENA high level of enable end, motor A is in enabled state, this
If when IN1 meet 5V, IN2 ground connection, corresponding motor A is rotated forward, if IN1 is grounded at this time, IN2 connects 5V, motor A reversion；Similarly, make
When energy end ENB high level, another group of corresponding motor B is in enabled state, if IN3 meets 5V at this time, IN4 ground connection, motor B is just
Turn, if IN3 is grounded at this time, IN4 meets 5V, and two, intelligent robot left side motor is connect the channel of L298N module by motor B reversion
Two, the right motor is met the channel B of L298N module by A, and logic input IN1, IN2, IN3, IN4 are separately connected main controller 11,
By the left-hand rotation of 11 intelligent carriage of main controller, turns right, moves forward and backward.And pass through the first light emitting diode L1, second luminous two
Pole pipe L2, third light emitting diode L3, the 4th light emitting diode L4 can be respectively indicated and be connected to each output end, with display
Current motor does state, and circuit is realized simple.
In a kind of implementation of the utility model, the motor driver 15 further include: first diode D1,
Two diode D2, third diode D3, the 4th diode D4, the 5th diode D5, the 6th diode D6, the 7th diode D7,
8th diode D8；The anode of the first output end OUT1 and the first diode D1 of the motor drive ic U2 and institute
The cathode for stating the 5th diode D5 is connected, the second output terminal OUT2 of the motor drive ic U2 and the second diode D2
Anode be connected with the cathode of the 6th diode D6, the third output end OUT3 of the motor drive ic U2 with it is described
The anode of third diode D3 is connected with the cathode of the 7th diode D7；The 4th output of the motor drive ic U2
End OUT4 is connected with the cathode of the anode of the 4th diode D4 and the 8th diode D8；The first diode D1,
The second diode D2, the third diode D3, the 4th diode D4 cathode connect operating voltage VCC, it is described
The plus earth of 5th diode D5, the 6th diode D6, the 7th diode D7, the 8th diode D8.
By D1-D8, this 8 diodes are known as freewheeling diode, prevent voltage and current to be mutated, play the work of smooth electric current
With guaranteeing that the fluctuation of the driving current of motor is smaller.
In a kind of implementation of the utility model, the range unit 12 further include: infrared distance measuring device 12；Or；
Supersonic range finder 12.
In a kind of implementation of the utility model, the avoidance warning device 14 includes warning circuit, the alarm electricity
Road includes: twelfth resistor R12, thirteenth resistor R13, diode VD1, the 4th triode VT2, the 5th light emitting diode
LED1, loudspeaker IC2；The cathode phase that the output end of main controller 11 passes through the twelfth resistor R12 and the diode VD1
Even, the anode of the diode VD1 is connected with the base stage of the 4th triode VT2, the transmitting of the 4th triode VT2
Pole ground connection, the collector of the 4th triode VT2 are connected with 1 cathode of the 5th Light-emitting diode LED, and the described 5th shines
1 anode of diode (LED) is connected by thirteenth resistor R13 with the operating voltage, and the loudspeaker IC2 is connected to the described 4th
Between the collector of triode VT2, the operating voltage.
Main controller 11 is connected by twelfth resistor R12, and is high level in the connection pin output of processing unit 13
In the case of, the emitter of diode VD1 and triode VT2 are connected, to drive shining and raising for LED1 by 12V operating voltage
The sounding of sound device IC2, conversely, can not then drive the sounding of LED1 to shine with loudspeaker IC2, thirteenth resistor R13 is partial pressure
Resistance.
The above is only the preferred embodiment of the utility model only, is not intended to limit the protection model of the utility model
It encloses.Any modification, equivalent substitution, improvement and etc. made within the spirit and principle of the present invention, are all contained in this reality
With in novel protection scope.
Claims (6)
1. a kind of agricultural robot obstacle avoidance system, which is characterized in that the system comprises:
Main controller,
Collected distance signal is sent to the range unit of the main controller, the range unit is mounted in robot,
It is connected with the main controller, the range unit includes: ZED binocular camera and industrial personal computer, the ZED binocular camera and the work
Control machine is connected；
Collected angle information is sent to the angle acquisition device of the main controller, is mounted on the front-wheel of the robot,
It is connected by communication bus with the main controller；
The avoidance warning device for receiving the alarm signal that the main controller is sent, is connected with the main controller；
The motor driver for receiving the motor drive signal that the main controller is sent, is connected with the main controller；
Power supply is the main controller, the range unit, the angle acquisition device, the avoidance warning device and the motor
Driving device, which is connected, to be powered.
2. a kind of agricultural robot obstacle avoidance system according to claim 1, which is characterized in that further include: detection circuit, institute
It states detection circuit to be connected with the range unit and the main controller, and the detection circuit is mounted on the leg of the robot
Or foot；
The detection circuit, comprising: first resistor, second resistance, 3rd resistor, the 4th resistance, the 5th resistance, the 6th resistance,
7th resistance, the 8th resistance, the 9th resistance, first capacitor, the second capacitor, third capacitor, the 4th capacitor, infrared sensor,
One triode, the second triode, third transistor, the first operating voltage, the second operating voltage, third operating voltage；
First operating voltage is connected by the first resistor with the first input end of the infrared sensor, described infrared
Second input terminal of sensor is connected with the collector of first triode；First output end of the infrared sensor passes through
The second resistance is connected with second operating voltage, and the first output end of the infrared sensor and the 3rd resistor
One end be connected, the other end of the 3rd resistor, one end of the first capacitor and the main controller are connected；
One end of the emitter of first triode and the 4th resistance, one end of second capacitor, the 5th electricity
One end of resistance is connected, the base stage of the other end of the 4th resistance, the other end of second capacitor and second triode
It is connected, the collector of second triode is connected with one end of the base stage of first triode, the 6th resistance, described
The other end of 6th resistance is connected with the collector of one end of the 7th resistance, the third transistor, the three or three pole
The base stage of pipe is connected by the 8th resistance, the third capacitor with the main controller；The base of the third transistor
Pole is connected by the 9th resistance with the emitter of the third transistor, third operating voltage；
The emitter of the third transistor passes through the 4th capacity earth；It is the other end of 7th resistance, described infrared
The second output terminal of sensor, the other end of the first capacitor, the other end of the 5th resistance, second triode
Emitter ground connection；
Wherein, the model STM32F103ZET6 of the main controller.
3. a kind of agricultural robot obstacle avoidance system according to claim 1, which is characterized in that the motor driver packet
Include: motor drive ic, the first light emitting diode, the second light emitting diode, third light emitting diode, the 4th light emitting diode,
Tenth resistance, eleventh resistor；
First output end of the motor drive ic is connected with one end of the tenth resistance, the other end of the tenth resistance
It is connected with the cathode of the anode of first light emitting diode, second light emitting diode, the of the motor drive ic
Two output ends are connected with the anode of the cathode of first light emitting diode, second light emitting diode, the motor driven
The first output end and second output terminal of chip are connected with first motor；
The third output end of the motor drive ic is connected with one end of the eleventh resistor, the eleventh resistor it is another
One end is connected with the cathode of the anode of the third light emitting diode, the 4th light emitting diode, the motor drive ic
The 4th output end be connected with the anode of the cathode of the third light emitting diode, the 4th light emitting diode, the motor
The third output end and the 4th output end of driving chip are connected with the second motor.
4. agricultural robot obstacle avoidance system according to claim 3, which is characterized in that the motor driver also wraps
It includes: first diode, the second diode, third diode, the 4th diode, the 5th diode, the 6th diode, the seven or two pole
Pipe, the 8th diode；
The cathode of first output end of the motor drive ic and the anode of the first diode and the 5th diode
It is connected,
The second output terminal of the motor drive ic and the anode of second diode and the cathode of the 6th diode
It is connected,
The third output end of the motor drive ic and the anode of the third diode and the cathode of the 7th diode
It is connected；
The 4th output end and the anode of the 4th diode and the cathode of the 8th diode of the motor drive ic
It is connected；
The cathode connection work of the first diode, second diode, the third diode, the 4th diode
Voltage, the plus earth of the 5th diode, the 6th diode, the 7th diode, the 8th diode.
5. a kind of agricultural robot obstacle avoidance system according to claim 1-4, which is characterized in that the ranging dress
It sets further include: infrared distance measuring device；
Or；
Supersonic range finder.
6. a kind of agricultural robot obstacle avoidance system according to claim 1, which is characterized in that the avoidance warning device packet
Include warning circuit, the warning circuit includes: twelfth resistor, thirteenth resistor, diode, the 4th triode, the 5th shines
Diode, loudspeaker；
The output end of the comparator is connected by the twelfth resistor with the cathode of the diode, the sun of the diode
Pole is connected with the base stage of the 4th triode, the emitter ground connection of the 4th triode, the current collection of the 4th triode
Pole is connected with the 5th light-emitting diodes tube cathode, and the 5th light-emitting diodes tube anode passes through thirteenth resistor and the work
Voltage is connected, and the loudspeaker is connected between the collector of the 4th triode, the operating voltage.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110850398A (en) * | 2019-11-11 | 2020-02-28 | 山东大学 | Intelligent radar carrying system and method for advanced forecast bottom plate detection |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110850398A (en) * | 2019-11-11 | 2020-02-28 | 山东大学 | Intelligent radar carrying system and method for advanced forecast bottom plate detection |
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