CN110448226A - A kind of ARM car-like robots and its application method - Google Patents
A kind of ARM car-like robots and its application method Download PDFInfo
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- CN110448226A CN110448226A CN201910638243.0A CN201910638243A CN110448226A CN 110448226 A CN110448226 A CN 110448226A CN 201910638243 A CN201910638243 A CN 201910638243A CN 110448226 A CN110448226 A CN 110448226A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4077—Skirts or splash guards
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of ARM car-like robots and its application method, including car body, the control box being mounted in the middle part of car body, and it is separately mounted to the driving wheel of vehicle bottom front and back end two sides；Master controller is installed in the control box；The master controller is connected with track obstacle avoidance module and the camera for being mounted on car body surrounding, described to track obstacle avoidance module and camera is installed on stressed plate, the stressed plate is fixedly connected through slideway with the buffer unit being mounted in bodywork cavity by slide bar.The configuration of the present invention is simple, intelligence degree are high；It itself can monitor picture around robot in real time, and barrier is avoided；And application method is simple, it is easy to be received by ordinary person；And remote control can be carried out by remote controler, the investment of human resources is greatly reduced, working efficiency is accelerated.
Description
Technical field
Design vehicle robotic technology field of the present invention, and in particular to a kind of ARM car-like robots and its application method.
Background technique
Since 21 century, as technology of Internet of things continues to develop, miscellaneous smart machine enters the day of people
Often life in, the quality of life to affect the livelihood of every family, currently, intelligent robot be widely used in transport, military affairs, rescue,
The various aspects such as space exploration, smart home and field greatly improve work efficiency and reduce cost of labor.
Current car-like robots have certain intelligence, but its intelligence degree is low, can not adjust walking in real time
Direction；And existing car-like robots impact resistant capability is lower, is easily damaged, and its controller is easy damage after being hit
It is bad, cause serious loss；It, can not be during walking to certain furthermore current car-like robots function is relatively simple
A little specific places are cleaned, and practicability is not high.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of ARM car-like robots and its application method, can effectively solve above-mentioned
Technical problem.
Technical solution
A kind of ARM car-like robots, including car body, the control box being mounted in the middle part of car body, and it is separately mounted to vehicle bottom
The driving wheel of front and back end two sides；Master controller is installed in the control box；The master controller, which is connected with, is mounted on vehicle
Track obstacle avoidance module and the camera of body surrounding, it is described to track obstacle avoidance module and camera is installed on stressed plate, it is described by
Power plate is fixedly connected through slideway with the buffer unit being mounted in vehicle body central cavity by slide bar.
Further, the obstacle avoidance module that tracks includes avoidance unit and tracking unit, the avoidance unit and tracking list
Member includes infrared transmitting tube and infrared receiving tube.
Further, infrared obstacle avoidance module of the avoidance unit using model HJ-IR2, the tracking list
Member is using the infrared tracking line walking sensor module of model HJ-IR3.
Further, the surrounding position corresponding with stressed plate connecting rod of control box is arranged in the cavity, described
Buffer unit include the sliding block and buffer spring being mounted in cavity.
Further, the master controller is connected with motor drive module, the motor drive module be mounted on
Motor connection on driving wheel.
Further, the motor drive module includes the first Schmitt trigger, the second Schmitt trigger, operation
Amplifier A and operational amplifier B；The input terminal of the first Schmitt trigger inputs pwm signal, output end connection second this
The input terminal of schmitt trigger, the output end of the second Schmitt trigger by after load resistance and filter capacitor with operation amplifier
The electrode input end of device A connects, and the negative input of operational amplifier A connects output end, and the output end of operational amplifier A passes through
It is connect after resistance with operational amplifier B electrode input end, the output end of operational amplifier B after resistance with transistor base by connecting
It connects, the negative input of operational amplifier B after resistance with the emitter of triode by connecting, the grounded collector of triode.
Further, the master controller is connected with electric power driving module, and the electric power driving module passes through wireless
Transmission module is connect with wireless remote control signal.
Further, the master controller is connected with image processing module, and the image processing module passes through serial ports
It is connect with high-definition camera signal.
Further, the bottom of the car body is installed with dust exhaust apparatus.
Further, the dust exhaust apparatus includes the stored ash box for being detachably secured to vehicle bottom, the upside of stored ash box
Dust suction driver is installed, the two sides of stored ash box are provided with and communicated with sweep-up pipe, and the end of sweep-up pipe is connected with suction inlet.
Further, the dust suction driver is connected to power supply by conducting wire, and dust suction switch is provided on the conducting wire.
Further, the master controller is also connected with alarm, memory and power module.
Further, the controller uses the single-chip microcontroller of model STM32F103, and the wireless transport module uses type
Number be ESP826 WIFI module, the alarm model ML-10, the memory be RAM random access memory, it is described
Image capture module uses the image pick-up card of model R3-DIF, and the motor drive module uses composite stepper motor.
A kind of application method of ARM car-like robots, based on above-mentioned ARM car-like robots, which exists
The effective avoiding obstacles of energy, specifically used method are as follows when use:
Step 1: by remote controler, (remote controler can be the APP being arranged on mobile phone or computer or IPAD, be also possible to manually
Remote controler), remote manual control robot startup power supply module, electric power source pair of module ARM car-like robots are powered, and control box is with after
Platform controlling terminal carries out signal connection；
Step 2: the motor drive module of control box connection is driven, and control motor work, driving wheel is rotated, band
Dynamic ARM car-like robots are advanced；
Step 3: when ARM car-like robots are advanced, the infrared signal that avoidance unit receives judges the front whether have barrier,
The infrared signal that tracking unit receives judges current moving of car state, meanwhile, high-definition camera acquires robot week in real time
Enclose ambient image；
Step 4: acquired image is sent to image processing module and handled by high-definition camera, if image processing module
There is barrier around determining, sends information to master controller, master controller sends a signal to avoidance unit around, passes through week
It encloses that obstacle signal is detected on which side of avoidance unit judges, sends the signal to controller, controller is to motor drive module
Control instruction is sent, motor drive module issues pwm pulse signal to corresponding motor, and the direction for adjusting driving wheel is kept away
Barrier；
Step 5: meanwhile, user can pass through the direction of travel and speed of remote control control car-like robots；
Step 6: if ARM car-like robots, in remote state, when encountering the shock of foreign body, stressed plate is by outer first
The pressure in portion, pressure are transmitted on buffer spring one and buffer spring two respectively by slide bar, and sliding block one and sliding block two squeeze respectively
It is pressed on buffer spring one and buffer spring two, plays the role of buffering；
Step 7: when ARM car-like robots, which advance to, needs to carry out clean place, start vacuum cleaner switch, vehicle bottom
Suction inlet start to work, car body starts cleaning while advancing, and the dust of sucking is uniformly collected by sweep-up pipe
In stored ash box, ARM car-like robots can take out stored ash box after stopping and be cleared up.
Beneficial effect
A kind of ARM car-like robots proposed by the present invention and its application method have beneficial below compared with prior art
Effect:
(1) the technical program structure is simple, and intelligence degree is high；Itself can monitor picture around robot in real time, and to barrier
Object is hindered to be avoided；And application method is simple, it is easy to be received by ordinary person；And remote control can be carried out by remote controler,
The investment for greatly reducing human resources, accelerates working efficiency.
(2) the accurate output of 4-20MA electric current, and resolution ratio and PWM may be implemented in the setting of motor drive module
The digit of signal is related, as long as PWM signal resolution reaches certain digit, so that it may realize high-precision electric current output, by
In using Schmidt trigger and current negative feedback circuit, anti-interference ability and high stability, driving is further improved
Take turns the stability of walking.
(3) stressed plate and matched buffer unit of car body surrounding setting, can effectively reduce robot and bump against
Pressure suffered by car body when other objects plays protective action to the robot；Cavity avoids machine in the design of control box surrounding
Device people is influenced the performance of control box by hitting, and plays the role of being effectively protected to control box, improves the robot
Service life.
(4) suction inlet of vehicle bottom setting, can control dust suction by vacuum cleaner switch according to the demand of different places
Dust impurity on ground is drawn into stored ash box while robot operation by suction inlet by device, and can be from car body
It is interior to take out by the stored ash box for filling ash.
Detailed description of the invention
Fig. 1 is overall structure floor map of the invention；
Fig. 2 is the structure connection signal block diagram of master controller of the invention；
Fig. 3 is the circuit connection diagram of motor drive module in the present invention；
Fig. 4 is flow diagram of the invention.
Mark in attached drawing: 1- car body, 11- cavity, 2- driving wheel, 3- control box, 4- stressed plate, 5- buffer unit, 51-
Slideway, 52- slide bar, 53- sliding block one, 54- buffer spring one, 55- sliding block two, 56- buffer spring two, 6- track obstacle avoidance module,
7- high-definition camera, 8- dust catcher, 81- suction inlet, 82- sweep-up pipe, 83- stored ash box, 9- vacuum cleaner switch.
Specific embodiment:
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clearly and completely
Description.Described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.The present invention is not being departed from
Under the premise of design concept, all variations and modifications that ordinary people in the field makes technical solution of the present invention should all be fallen
Enter to protection scope of the present invention.
Embodiment:
As shown in Figure 1, a kind of ARM car-like robots, including car body, vehicle bottom front and back end are separately installed with driving wheel, including
Preceding left driving wheel, preceding right driving wheel, rear left driving wheel and rear right driving wheel.
The inside of car body is equipped with control box, is equipped with master controller in the control box, master controller is electrically connected with
Alarm, memory, power module, image capture module, wireless transport module and motor drive module, power module use
For LM2596S voltage stabilizing chip by voltage output, the power module is the power supply of ARM car-like robots.(in the present embodiment, master control
The connection side of device processed and alarm, memory, power module, image capture module, wireless transport module and motor drive module
Formula is all made of connection means conventional in the art, and the technical program does not do any improvement to it, this is the prior art, no longer
It illustrates more.)
The surrounding of car body is respectively equipped with stressed plate, is respectively equipped in the surrounding for being internally located at control box of car body corresponding with stressed plate
Cavity, buffer unit is installed in cavity；The slideway being connected to is respectively equipped between cavity and stressed plate, slide into through having
It is separately connected the slide bar of stressed plate inner wall and buffer unit；One end of the slide bar is welded and fixed with stressed plate to be connect, the other end
The sliding block one being connected in buffer unit is welded and fixed；The sliding block one is mounted in cavity, and the both ends of sliding block one are against cavity
Inner wall on and slide back and forth along the inner wall of cavity；In cavity, the side of sliding block one is fixedly connected sequentially and has buffer spring
One, sliding block two and buffer spring two.
It is separately installed with track obstacle avoidance module and high-definition camera in the bottom of each stressed plate, high-definition camera passes through figure
Picture acquisition module is connect with controller, and high-definition camera uses USB free drive camera.The obstacle avoidance module that tracks include avoidance unit and
Tracking unit, avoidance unit and tracking unit include infrared transmitting tube and infrared receiving tube；What the avoidance unit used
It is the infrared obstacle avoidance module of model HJ-IR2, the tracking unit is sensed using the infrared tracking line walking of model HJ-IR3
Device module.
ARM car-like robots at runtime, can be divided into automatic mode and steer mode；By the tracking module of setting and
Obstacle avoidance module, when advancing, the automatic avoiding obstacles of energy, may be implemented automatic mode；Furthermore it is also possible to by wireless communication
Module is connect with remote controler, or is connected with the APP on mobile phone, IPAD, apparatus such as computer, and the operation of remote control car body is realized
Manual manipulation mode.When opening car body, it is defaulted as steer mode, user can be switched to automatic mode.
Tracking function of the invention, which is realized, mainly uses infrared tube tracking method, using two kinds of colors of black and white to infrared
The difference of the absorption of line carrys out tracking, the case where according to robot motion, constantly emits infrared ray, when encountering black line
When, reflection it is fewer, when encountering white line, the comparison of reflection is more, will trigger comparator, analog signal is transformed to
Output signal is sent in single-chip microcontroller.
Barrier avoiding function of the invention, which is realized, mainly uses infrared obstacle avoidance, detects barrier by infrared photoelectric sensor
Pulse is issued, a low level is exported, it is handled by single-chip microcontroller, is controlled by motor drive module, realization is kept away
Hinder function, left side probe detects that barrier is turned right, and the right probe detects that barrier is turned left, if all not having, i.e.,
Straight trip.
Controller connects the driving motor on four driving wheels by motor drive module, and four driving motors respectively drive
Preceding left driving wheel, preceding right driving wheel, rear left driving wheel and rear right driving wheel；Wherein, controller is using model STM32F103's
Single-chip microcontroller, the wireless transport module use the WIFI module of model ESP826, and the alarm model ML-10 is described
Memory is RAM random access memory, and described image acquisition module uses the image pick-up card of model R3-DIF, the electricity
Machine drive module uses composite stepper motor.
Motor drive module includes the first Schmitt trigger, the second Schmitt trigger, operational amplifier A1d and operation
Amplifier B2d, the first Schmitt trigger input input pwm signal, and it is defeated that output end connects the second Schmitt trigger
Enter end, the second Schmitt trigger output end connects the one end resistance A1c, and the resistance A1c other end is separately connected resistance B2c mono-
End and the one end capacitor F6b, the resistance B2c other end are separately connected the one end capacitor G7b and the input of operational amplifier A1d anode
End, the capacitor F6b other end connect the capacitor G7b other end and are grounded, and the operational amplifier A1d negative input connection is defeated
Outlet, the operational amplifier A1d output end connect the one end resistance C3c, and the resistance C3c other end is separately connected operational amplifier
B2d electrode input end and the one end resistance G7c, the operational amplifier B2d output end connect the one end resistance F6c, and resistance F6c is another
23 base stage of connecting triode is held, the operational amplifier B2d negative input is separately connected the one end resistance D4c and resistance E5c mono-
End, resistance D4c other end ground connection, the resistance E5c other end are separately connected 23 emitter of triode and the one end resistance H8c, electricity
Hinder the H8c other end connect 24 cathode of first diode, 24 plus earth of first diode, 23 collector of triode and
The second diode 25 is accessed between the resistance G7c other end.4-20MA electricity may be implemented in the motor drive module that the present invention uses
The accurate output of stream, and resolution ratio is related to the digit of PWM signal, as long as PWM signal resolution reaches certain digit,
The output of high-precision electric current may be implemented, due to using Schmidt trigger and current negative feedback circuit, anti-interference ability and
High stability further improves the stability of driving wheel walking.
It is respectively equipped with suction inlet in the two sides of the bottom of car body, one end of the suction inlet connects stored ash box by sweep-up pipe,
Stored ash box is detachably secured on car body by buckle, is equipped with dust catcher, the dust catcher 37, stored ash box in the top of stored ash box
36 and the sweep-up pipe 35 be respectively arranged at the inner wall of the car body 1, the outer wall side of the car body 1 is equipped with vacuum cleaner switch
38, the vacuum cleaner switch 38 is connect with the dust catcher 37.(in the present embodiment, structure of dust collector and dust catcher and vehicle
The connection type of body is all made of dust catcher conventional in the art and connection means, and the technical program does not do any change to it
Into this is the prior art, no longer to illustrate more)
A kind of application method of ARM car-like robots, based on above-mentioned ARM car-like robots, which is being used
When can effective avoiding obstacles, specifically used method is as follows:
Step 1: by remote controler, (remote controler can be the APP being arranged on mobile phone or computer or IPAD, be also possible to manually
Remote controler), remote manual control robot startup power supply module, electric power source pair of module ARM car-like robots are powered, and control box is with after
Platform controlling terminal carries out signal connection；
Step 2: the motor drive module of control box connection is driven, and control motor work, driving wheel is rotated, band
Dynamic ARM car-like robots are advanced；
Step 3: when ARM car-like robots are advanced, the infrared signal that avoidance unit receives judges the front whether have barrier,
The infrared signal that tracking unit receives judges current moving of car state, meanwhile, high-definition camera acquires robot week in real time
Enclose ambient image；
Step 4: acquired image is sent to image processing module and handled by high-definition camera, if image processing module
There is barrier around determining, sends information to master controller, master controller sends a signal to avoidance unit around, passes through week
It encloses that obstacle signal is detected on which side of avoidance unit judges, sends the signal to controller, controller is to motor drive module
Control instruction is sent, motor drive module issues pwm pulse signal to corresponding motor, and the direction for adjusting driving wheel is kept away
Barrier；
Step 5: meanwhile, user can pass through the direction of travel and speed of remote control control car-like robots；
Step 6: if ARM car-like robots, in remote state, when encountering the shock of foreign body, stressed plate is by outer first
The pressure in portion, pressure are transmitted on buffer spring one and buffer spring two respectively by slide bar, and sliding block one and sliding block two squeeze respectively
It is pressed on buffer spring one and buffer spring two, plays the role of buffering；
Step 7: when ARM car-like robots, which advance to, needs to carry out clean place, start vacuum cleaner switch, vehicle bottom
Suction inlet start to work, car body starts cleaning while advancing, and the dust of sucking is uniformly collected by sweep-up pipe
In stored ash box, ARM car-like robots can take out stored ash box after stopping and be cleared up.
Claims (10)
1. a kind of ARM car-like robots, including car body, the control box being mounted in the middle part of car body, and it is separately mounted to car body bottom
The driving wheel of portion, two sides, front and back end；Master controller is installed in the control box；It is characterized by: the master controller connects
It is connected to track obstacle avoidance module and the camera for being mounted on car body surrounding, it is described to track obstacle avoidance module and camera is installed in stressed plate
On, the stressed plate is fixedly connected through slideway with the buffer unit being mounted in vehicle body central cavity by slide bar.
2. a kind of ARM car-like robots according to claim 1, it is characterised in that: the cavity setting is in control box
Surrounding position corresponding with stressed plate connecting rod, the buffer unit includes the sliding block and buffering elastic being mounted in cavity
Spring.
3. a kind of ARM car-like robots according to claim 1, it is characterised in that: the master controller is connected with electricity
Machine drive module, the motor drive module are connect with the motor of installation on the drive wheel.
4. a kind of ARM car-like robots according to claim 3, it is characterised in that: the motor drive module includes
First Schmitt trigger, the second Schmitt trigger, operational amplifier A and operational amplifier B；The first Schmitt triggering
The input terminal of device inputs pwm signal, and output end connects the input terminal of the second Schmitt trigger, the second Schmitt trigger it is defeated
For outlet by connecting after load resistance and filter capacitor with the electrode input end of operational amplifier A, the cathode of operational amplifier A is defeated
Enter end connection output end, the output end of operational amplifier A after resistance with operational amplifier B electrode input end by connecting, operation
The output end of amplifier B connect after passing through resistance with transistor base, the negative input of operational amplifier B by after resistance and
The emitter of triode connects, the grounded collector of triode.
5. a kind of ARM car-like robots according to claim 1, it is characterised in that: the master controller is connected with electricity
Source drive module, the electric power driving module are connect by wireless transport module with wireless remote control signal.
6. a kind of ARM car-like robots according to claim 1, it is characterised in that: the master controller is connected with figure
As processing module, the image processing module is connect by serial ports with high-definition camera signal.
7. a kind of ARM car-like robots according to claim 1, it is characterised in that: the bottom of the car body is installed with suction
Dirt device.
8. a kind of ARM car-like robots according to claim 7, it is characterised in that: the dust exhaust apparatus includes removable
The stored ash box for being fixed on vehicle bottom is unloaded, dust suction driver is installed on the upside of stored ash box, the two sides of stored ash box are provided with and communicated with
The end of sweep-up pipe, sweep-up pipe is connected with suction inlet.
9. a kind of ARM car-like robots according to claim 8, it is characterised in that: the dust suction driver passes through conducting wire
It connects to power supply, dust suction switch is provided on the conducting wire.
10. a kind of application method of ARM car-like robots is based on a kind of its described in any item ARM vehicle machine of claim 1-9
Device people, it is characterised in that: ARM car-like robots when in use can effective avoiding obstacles, specifically used method is as follows:
Step 1: by remote controler, remote manual control robot startup power supply module, electric power source pair of module ARM car-like robots are carried out
It is powered, control box and Background control terminal carry out signal connection；
Step 2: the motor drive module of control box connection is driven, and control motor work, driving wheel is rotated, band
Dynamic ARM car-like robots are advanced；
Step 3: when ARM car-like robots are advanced, the infrared signal that avoidance unit receives judges the front whether have barrier,
The infrared signal that tracking unit receives judges current moving of car state, meanwhile, high-definition camera acquires robot week in real time
Enclose ambient image；
Step 4: acquired image is sent to image processing module and handled by high-definition camera, if image processing module
There is barrier around determining, sends information to master controller, master controller sends a signal to avoidance unit around, passes through week
It encloses that obstacle signal is detected on which side of avoidance unit judges, sends the signal to controller, controller is to motor drive module
Control instruction is sent, motor drive module issues pwm pulse signal to corresponding motor, and the direction for adjusting driving wheel is kept away
Barrier；
Step 5: meanwhile, user can pass through the direction of travel and speed of remote control control car-like robots；
Step 6: if ARM car-like robots, in remote state, when encountering the shock of foreign body, stressed plate is by outer first
The pressure in portion, pressure are transmitted on buffer spring one and buffer spring two respectively by slide bar, and sliding block one and sliding block two squeeze respectively
It is pressed on buffer spring one and buffer spring two, plays the role of buffering；
Step 7: when ARM car-like robots, which advance to, needs to carry out clean place, start vacuum cleaner switch, vehicle bottom
Suction inlet start to work, car body starts cleaning while advancing, and the dust of sucking is uniformly collected by sweep-up pipe
In stored ash box, ARM car-like robots can take out stored ash box after stopping and be cleared up.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111150334A (en) * | 2020-01-10 | 2020-05-15 | *** | Remote-control anti-collision obstacle-crossing line inspection robot and using method thereof |
| CN111658156A (en) * | 2020-07-17 | 2020-09-15 | 山东省肿瘤防治研究院（山东省肿瘤医院） | Automatic endoscope transfer transport vehicle and transport method |
| CN112435567A (en) * | 2020-12-02 | 2021-03-02 | 武汉喻家元创科技有限公司 | Obstacle avoidance robot for teaching |
| CN113478457A (en) * | 2021-08-03 | 2021-10-08 | 爱在工匠智能科技(苏州)有限公司 | Medical service robot |
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