Barn robot obstacle avoidance system

Abstract

The utility model discloses an obstacle avoidance system for a granary robot, which comprises a plurality of microswitches fixedly mounted on the periphery of the granary robot respectively; the microswitch is provided with a flexible rod and is obliquely arranged towards the outer side of the granary robot; wherein one ends of the plurality of microswitches are connected with a power supply, and the other ends of the plurality of microswitches are connected with the pull-down resistors in a one-to-one correspondence manner and are grounded through the pull-down resistors; the controller is connected between the microswitch and the pull-down resistor in a one-to-one correspondence manner through a plurality of IO (Input / Output) pins and is used for measuring a voltage value between the microswitch and the pull-down resistor; and the motion execution mechanism driving control module is connected with the controller and is used for driving a motion execution mechanism of the granary robot. The barn robot obstacle avoidance system provided by the utility model is simple in structure, can be suitable for a barn operation environment, accurately senses the surrounding environment and avoids obstacles, and is lower in cost.

Description

Technical Field

[0001] The utility model belongs to the technical field of obstacle avoidance of a granary robot, and in particular relates to an obstacle avoidance system for a granary robot. Background Art

[0002] Granary robots are used for operations such as grain leveling and inspection in granaries. They can drive autonomously or by remote control. In autonomous driving mode, sensors are needed to sense the surrounding environment to avoid collisions. Since the operating environment of a granary may be weak in lighting and dusty, visual sensors are not suitable for use, and lidar is expensive. Utility Model Content

[0003] The utility model aims to provide a granary robot obstacle avoidance system, which has a simple structure, can be suitable for the granary operating environment, can accurately sense the surrounding environment and avoid obstacles, and has a low cost.

[0004] The technical solution provided by the utility model is:

[0005] A granary robot obstacle avoidance system, comprising:

[0006] A plurality of micro switches are respectively fixedly mounted on the four sides of the granary robot; the micro switches have flexible rods and are tilted toward the outside of the granary robot;

[0007] Wherein, one end of each of the plurality of micro switches is connected to a power source, and the other end is connected to a pull-down resistor in a one-to-one correspondence, and is grounded through the pull-down resistor;

[0008] A controller, which is connected between the micro switch and the pull-down resistor in a one-to-one correspondence through a plurality of IO pins, and is used to measure the voltage value between the micro switch and the pull-down resistor;

[0009] A motion actuator driving control module is connected to the controller and is used to drive the motion actuator of the granary robot.

[0010] Preferably, the micro switch adopts a WLNJ spring-type soft-contact mechanical switch sensor.

[0011] Preferably, the controller adopts a STM32F104 single chip microcomputer.

[0012] Preferably, the grain silo robot obstacle avoidance system further comprises:

[0013] A voltage detection module is connected to the PB0 port of the controller and is used to detect the power supply voltage.

[0014] Preferably, the grain silo robot obstacle avoidance system further comprises:

[0015] A remote controller, which is provided with an obstacle avoidance start-stop switch, and the obstacle avoidance start-stop switch is connected to the transmitting end of the remote controller;

[0016] The remote control receiver is connected to the controller and is used to receive the signal sent by the remote control.

[0017] Preferably, the remote control receiver is connected to the PC6, PC7 and PC8 ports of the controller.

[0018] Preferably, the number of the micro switches is 4, and they are respectively arranged at the four corners of the granary robot.

[0019] Preferably, the micro switch has a flexible rod with a length of 20 to 30 cm.

[0020] Preferably, the motion actuator drive control module is connected to the controller via ports PB14 and PB15.

[0021] Preferably, the grain silo robot obstacle avoidance system further comprises:

[0022] A power indicator light, connected to the controller, for indicating whether the power supply is normal;

[0023] Among them, when the power supply is normal, the power indicator light is on; when there is no power supply or the power supply voltage is insufficient, the power indicator light is off;

[0024] A buzzer alarm connected to the controller;

[0025] Among them, when the power is connected or the power voltage is insufficient, the buzzer alarm will sound;

[0026] A communication flashing indicator light connected to the controller;

[0027] Wherein, when the communication interface of the controller works normally, the communication flashing indicator light flashes.

[0028] The beneficial effects of the utility model are:

[0029] The granary robot obstacle avoidance system provided by the utility model has a simple structure, can be suitable for a granary operating environment, can accurately sense the surrounding environment and avoid obstacles, and has a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The utility model is a schematic diagram of the overall structure of the granary robot obstacle avoidance system.

[0031] Figure 2 This is a circuit schematic diagram of the obstacle avoidance system of the granary robot described in the utility model.

[0032] Figure 3This is a schematic diagram of the micro switch circuit of the obstacle avoidance system of the granary robot described in the utility model. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0034] like Figure 1 As shown, the utility model provides a granary robot obstacle avoidance system, which includes: a plurality of micro switches 110, which are respectively fixedly mounted on the four sides of the granary robot 100 and inclined toward the outside of the granary robot 100.

[0035] In this embodiment, the number of micro switches 110 is 4, and they are respectively arranged at the four corners of the frame of the granary robot 100. The micro switches 110 are installed on the upper side of the four corners of the granary robot (frame) at an angle of 45° outward, and the micro switches 110 have a flexible rod 20 to 30 cm long. During the movement of the granary robot, the micro switches 110 on the outside of the granary robot will touch the bulkhead or other obstacles before the robot. Once the micro switch 110 touches an obstacle, a switch closing signal is generated and sent to the control unit of the granary robot's obstacle avoidance system. After receiving the switch signal, the control unit of the granary robot's obstacle avoidance system controls the granary robot to change the direction of movement, re-plan the path, and achieve obstacle avoidance.

[0036] As a preferred embodiment, the micro switch 110 adopts a WLNJ spring-type soft-contact mechanical switch sensor, which has certain rigidity and flexibility. It can not only close in time to generate an electrical signal when it contacts an obstacle, but also avoid damage to the sensor caused by hard collision.

[0037] Obstacle avoidance system circuit principle Figure 2 As shown, the overall circuit schematic is divided into three layers: input layer, core control layer and execution layer.

[0038] The first layer is the input layer, which realizes input signal detection. The input layer includes a remote control receiving module K1, a voltage detection module K2 and an obstacle detection module K3. Among them, the remote control receiving module K1 realizes the start and stop of the contactless remote control driving obstacle avoidance system, including a remote control and a remote control receiver. The remote control is provided with an obstacle avoidance start and stop switch, a rotary start and stop switch and a flat grain start and stop switch. The obstacle avoidance start and stop switch, the rotary start and stop switch and the flat grain start and stop switch are respectively directly connected to the transmitting end of the remote control (remote control transmitter); the remote control receiver is used to receive the signal sent by the transmitting end of the remote control (remote control transmitter). The voltage detection module K2 is used to realize the power supply battery voltage detection. The obstacle detection module K3 uses multiple micro switches 110 to realize obstacle detection.

[0039] The second layer is the core control layer, and a single-chip microcomputer needs to be selected as the controller of the core control layer. Common types of single-chip microcomputers with IO, PWM, AD, and timing counter resources can be selected, such as STM32 series single-chip microcomputers, Arduino series single-chip microcomputers, etc. In this embodiment, an STM32F104 model single-chip microcomputer is used as the controller (controller K4) of the core layer, which is responsible for integrating input signals, outputting control signals to control the operation of the drive motor, and outputting status information.

[0040] The remote control receiver is connected to the PC6, PC7 and PC8 ports of the controller K4 at the same time. The voltage detection module K2 is directly connected to the PB0 port of the controller K4. The obstacle detection module K3 uses 4 WLNJ micro switches, which are respectively connected to the PA0, PA1, PA2 and PA3 ports of the controller K4.

[0041] Among them, the connection control between the remote control receiving module K1 and the controller K4 is controlled by the pulse counting method of the controller K4; the connection control between the voltage detection module K2 and the controller K4 is controlled by the ADC12-bit analog conversion of K4; the connection control between the obstacle detection module K3 and the controller K4 is controlled by the high-impedance input port of the controller K4.

[0042] When the remote control receiver receives more than 1500 count pulses on channel 5, the obstacle avoidance start-stop switch in K1 is connected to the PC8 pin of the controller K4.

[0043] When the remote control receiver receives counting pulses from channels 1 and 2, the rotary start / stop switch in K1 is connected to the PC6 and PC7 pins of the controller K4.

[0044] When the remote control receiver receives less than 1500 count pulses on channel 5, the level grain start and stop switch in K1 is connected to the PC8 pin of the controller K4.

[0045] The third layer is the execution layer, whose main function is to drive the motion actuator of the granary robot. In addition, it also uses components such as LEDs or buzzers to display status information; it includes: motion actuator drive control module (motor drive control module) K5, granary robot's motion actuator (motor) K6 and status display module K7.

[0046] The controller K4 is directly connected to the motion actuator drive control module K5 through the PB14 port and the PB15 port. The controller K4 controls the motion actuator drive control module K5 by adjusting the pulse width to adjust the motor speed and direction of the motion actuator K6.

[0047] The status display module K7 includes a power indicator light, a buzzer alarm, a communication flashing indicator light, and an OLED display.

[0048] There are two types of power indicator lights, the first is a 3.3V power indicator light, and the second is a 5V power indicator light. The indicator light is on when there is power, and the indicator light is off when there is no power or the power is insufficient. The buzzer alarms when the power is on or the power voltage is insufficient. After the power is turned on, when the communication interface of the controller 4 is normal, the communication port flashes to indicate. The OLED display mainly displays the current detection voltage value, the pitch angle and roll angle of the gyroscope, the start condition status, etc.

[0049] The circuit principle of the micro switch sensor group is as follows Figure 3 As shown. The 4 micro switches installed at the four corners of the granary robot are connected to a 5V DC power supply and grounded through a pull-down resistor. Select the 4 IO pins (IO1, IO2, IO3, IO4) of the controller (corresponding to PA0, PA1, PA2, PA3 ports in this embodiment) to measure the voltage value between the micro switch and the pull-down resistor. When the sensor encounters an obstacle, the micro switch is combined, the IO pin samples a high-level signal, and the corresponding digital quantity is 1. When the sensor does not encounter an obstacle, the micro switch is disconnected, and the IO pin samples a low-level signal, and the corresponding digital quantity is 0. After the IO pin samples the high-level signal, the controller 4 controls the motion actuator drive control module K5 by pulse width adjustment to drive the motion actuator K6 to avoid obstacles. The granary robot can use different types of motion actuators, and the controller must match the corresponding function pins according to the control principle of the motion actuator. Take the use of a single DC motor as the motion actuator of the granary robot as an example. At this time, the controller is connected to the motion actuator drive control module K5 with a PWM output pin, and the DC motor movement is controlled by a PWM duty cycle modulation signal.

[0050] Although the implementation scheme of the utility model has been disclosed as above, it is not limited to the applications listed in the specification and implementation modes. It can be fully applied to various fields suitable for the utility model. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A granary robot obstacle avoidance system, characterized in that: include: A plurality of micro switches are respectively fixedly mounted on the four sides of the granary robot; the micro switches have flexible rods and are tilted toward the outside of the granary robot; Wherein, one end of each of the plurality of micro switches is connected to a power source, and the other end is connected to a pull-down resistor in a one-to-one correspondence, and is grounded through the pull-down resistor; A controller, which is connected between the micro switch and the pull-down resistor in a one-to-one correspondence through a plurality of IO pins, and is used to measure the voltage value between the micro switch and the pull-down resistor; A motion actuator driving control module is connected to the controller and is used to drive the motion actuator of the granary robot.

2. The grain silo robot obstacle avoidance system according to claim 1, characterized in that: The micro switch adopts a WLNJ spring-type soft-contact mechanical switch type sensor.

3. The grain silo robot obstacle avoidance system according to claim 2, characterized in that: The controller adopts STM32F104 single chip microcomputer.

4. The grain silo robot obstacle avoidance system according to claim 3, characterized in that: Also includes: A voltage detection module is connected to the PB0 port of the controller and is used to detect the power supply voltage.

5. The grain silo robot obstacle avoidance system according to claim 3 or 4, characterized in that: Also includes: A remote controller, which is provided with an obstacle avoidance start-stop switch, and the obstacle avoidance start-stop switch is connected to the transmitting end of the remote controller; The remote control receiver is connected to the controller and is used to receive the signal sent by the remote control.

6. The grain silo robot obstacle avoidance system according to claim 5, characterized in that: The remote control receiver is connected to the PC6, PC7 and PC8 ports of the controller.

7. The grain silo robot obstacle avoidance system according to claim 6, characterized in that: The number of the micro switches is 4, and they are respectively arranged at the four corners of the granary robot.

8. The grain silo robot obstacle avoidance system according to claim 7, characterized in that: The micro switch has a flexible rod with a length of 20 to 30 cm.

9. The grain silo robot obstacle avoidance system according to claim 8, characterized in that: The motion actuator drive control module is connected to the controller via ports PB14 and PB15.

10. The grain silo robot obstacle avoidance system according to claim 9, characterized in that: Also includes: A power indicator light, connected to the controller, for indicating whether the power supply is normal; Among them, when the power supply is normal, the power indicator light is on; when there is no power supply or the power supply voltage is insufficient, the power indicator light is off; A buzzer alarm connected to the controller; Among them, when the power is connected or the power voltage is insufficient, the buzzer alarm will sound; A communication flashing indicator light connected to the controller; Wherein, when the communication interface of the controller works normally, the communication flashing indicator light flashes.

Images