CN110509283A - A kind of leaflet dispensing machines people - Google Patents

Abstract

The present invention discloses a kind of leaflet dispensing machines people, and the distributor of individual leaflet can be passed out including one, and leaflet dispensing machines people can switch at any time automatic cruise mode or MANUAL CONTROL mode under the control of mobile phone；Under automatic cruise mode, leaflet dispensing machines people can walk in a spacious place, when sensing front obstacle is human body, stopping at human body 30-50cm, a new leaflet is passed out if the leaflet in distributor is removed, if leaflet is removed again, a new leaflet is passed out again, until leaflet is no longer removed；When leaflet is still no longer removed after the time of setting, continue straight ahead after turning over an angle of 90 degrees degree in situ；Its sense front obstacle be it is non-human when, at barrier 30-50cm original place turn over an angle of 90 degrees degree after continue straight ahead；It loops back and forth like this；Under MANUAL CONTROL mode, leaflet dispensing machines people can be controlled by mobile phone and advance, retreat, stop, turning, pass leaflet and leaflet is passed in stopping.

Description

A kind of leaflet dispensing machines people

Technical field

The present invention relates to field of artificial intelligence, the specifically a intelligence machine that can distribute leaflet.

Background technique

With the development of artificial intelligence and internet, more and more scientific & technical corporation are all intentionally towards " machine substitute human labor " Direction carry out oneself research and development of products and technology iteration, i.e., this is a trend and tide.Make a general survey of the city of printed matter publicity instantly , be nearly all by manually being distributed, and there is various drawbacks for this traditional mode that distributes, such as: provide low efficiency, Customer's receptance is low and the problems such as the person's of distributing irresponsibility.

The utility model patent of Publication No. CN207326999U discloses a kind of flyer dispensing machines people, including with In hold leaflet box body, for by leaflet release box body friction pulley, be used to provide power to friction pulley motor, be used for Compress the pressure plate of leaflet, the spring for providing pressure to pressure plate, for installing the friction pulley and described electronic The backboard of machine, for perceiving infrared sensor that someone walks close to, being passed for detecting the infrared distance measuring whether leaflet has been removed Sensor, for the preview plate of preview ad content, the display screen for showing the information such as advertisement title, for by box body and backboard Fixed magnet, the power supply, control circuit being fixed together.But due to the utility model need interested people close to when Leaflet, the ability without the potential commercial audience of Automatic-searching are just released automatically, therefore leaflet distribution is ineffective.

Summary of the invention

For overcome the deficiencies in the prior art, the present invention discloses a can actively walk close to target audience and distribute leaflet Intelligent robot is adopted the technical scheme that:

A kind of this leaflet dispensing machines people, the distributor of individual leaflet can be passed out including one, unlike the prior art: being passed Single dispensing machines people can switch at any time automatic cruise mode or MANUAL CONTROL mode under the control of mobile phone；In automatic cruising mould Under formula, leaflet dispensing machines people can walk in a spacious place, sense front obstacle be human body when, away from Stop from human body 30-50cm, a new leaflet is passed out if the leaflet in distributor is removed, if leaflet is removed again, A new leaflet is then passed out again, until leaflet is no longer removed；When leaflet is still no longer removed after the time of setting, Continue straight ahead after turning over an angle of 90 degrees degree in situ；It is when it is non-human for sensing front obstacle, apart from barrier Straight ahead is continued after turning over an angle of 90 degrees degree in original place at 30-50cm；It loops back and forth like this；Under the MANUAL CONTROL mode, control People processed can be controlled leaflet dispensing machines people by mobile phone and advance, retreats, stops, turning, pass leaflet and leaflet is passed in stopping.

Further, the play cuing voice when stopping at human body 30-50cm, broadcasts when the leaflet passed out is removed Put thanks voice.

Further, including vehicle frame, the bottom of frame install four wheels, and each wheel passes through a miniature snail Worm and gear decelerating motor independently drives, and lithium storage battery and control unit are placed in the middle part of the vehicle frame；Installation at the top of the vehicle frame Leaflet distributor；The vehicle frame front installation distance of reaction be 30-50cm ultrasonic distance sensor, distance of reaction be People's pyroelectric infrared sensor of 2-3m, height of the people's pyroelectric infrared sensor apart from ground are greater than 60cm, detection The wavelength sensitivity of element is 7 ~ 10；

The leaflet distributor includes cabinet, and be pivoted on boxboard friction pulley on the left and right sides of the cabinet, a left side for the cabinet Fixed on side or right side boxboard to provide the minitype speed reducing motor of power to the friction pulley, setting leaflet is held in the cabinet Slot, leaflet containing tank rear end and the box baseplate be hinged, front end is by spring supporting；Also fixed leaflet is led on the cabinet Slot out, leaflet export slot are in tilted layout, rear end correspond to the leaflet hold front of the slot, front end stretch out the cabinet it Outside, loophole is opened up on the leaflet export slot, the infrared sensor installation whether being occluded for incuding the loophole On the cabinet；

Described control unit includes single-chip microcontroller, HC-05 bluetooth module, L298N drive module；The mobile phone installation BlueSPP is soft To connect and match with the HC-05 bluetooth module, the HC-05 bluetooth module is carried out part by serial port and the single-chip microcontroller Simplex communication, be respectively set under BlueSPP software editing mode key 1,2,3,4,5,7,8,9 for advance, turn right, turn left, It retreats, stop, distributing leaflets, stopping paying out leaflet, pattern switching, when pressing 9 key, leaflet dispensing machines people is in automatic cruise mode and hand Switch between dynamic control model；

It is automatic cruise mode when single-chip microcontroller receives signal, the L298N drive module controls four miniature worm and gears Decelerating motor synchronous rotation makes four wheels synchronize rotation realization straight ahead counterclockwise；When single-chip microcontroller receive ultrasonic wave away from It does not receive from sensor but with a distance from judging after the digital signal of people's pyroelectric infrared sensor, when distance is close to 30cm threshold value, The L298N drive module, which controls four miniature Worm reduction motors and synchronizes, to be stopped, then two institutes in control inside It states in miniature Worm reduction motor rotates synchronously, the miniature Worm reduction motor reverse sync rotation in outside makes Two wheels of side synchronize rotate clockwise, two wheels in outside synchronize rotation counterclockwise to realizing original place 90 Degree turning；After single-chip microcontroller receives ultrasonic distance sensor while receiving the digital signal of people's pyroelectric infrared sensor, institute It states L298N drive module and controls four miniature Worm reduction motors and synchronize and stop；It is passed when single-chip microcontroller receives infrared ray When sensor issues digital signal, L298N drive module control minitype speed reducing motor stops always, when single-chip microcontroller receive it is infrared After line sensor issues the time that digital signal is persistently set, the miniature Worm reduction motor of control inside two is synchronous Rotation, the miniature Worm reduction motor reverse sync rotation in outside synchronize two wheels of inside clockwise It rotates, two wheels in outside synchronize rotation counterclockwise to realize the turning of 90 degree of original place, then control four is described micro- Type Worm reduction motor synchronous rotation makes four wheels synchronize rotation realization straight ahead counterclockwise；When single-chip microcontroller not When receiving infrared sensor sending digital signal, the circle of the L298N drive module control minitype speed reducing motor rotation setting Number passs out a Zhang Chuandan.

It further, further include the speaker being placed in the middle part of the vehicle frame, when the single-chip microcontroller receives ultrasound simultaneously After the digital signal of wave range sensor and people's pyroelectric infrared sensor, the speaker play cuing voice is controlled, when it connects After the digital signal for receiving infrared sensor, plays and thank to voice.

It further, further include a solar energy photovoltaic panel, the solar energy photovoltaic panel hinge, which is located on the cabinet, to be also served as Cover board；The solar energy photovoltaic panel is the lithium storage battery electric energy supplement.

The infrared ray central wavelength of human body radiation is 9 ~ 10--um, and the wavelength sensitivity of detecting element is in 0.2 ~ 20--um Almost stablize in range constant.The window that filter glass is housed is opened up in transducer tip, this optical filter can pass through The wave-length coverage of light is 7 ~ 10--um, quite well to the detection of human infrared radiation, and to the infrared ray of other wavelength by filtering Mating plate is absorbed, and just forms a kind of people's pyroelectric infrared sensor for being dedicated as detection human body radiation in this way.

In order to avoid misidentifying toy, ultrasonic sensor detection angle is lower, using toy as obstacle recognition, People's pyroelectric infrared sensor is higher, away from ground in 60cm or more, does not detect toy.

Compared with prior art, leaflet is in the form of a single, and man efficiency is low for distributing currently on the market by the present invention, Gu Kejie The problems such as low by rate, a intelligent robot that can distribute leaflet automatically of research and development, realize leaflet distribute interest, can hold Continuous property and intelligence.

This product makes it have stable power resources using motor driven, and being able to good control, it does straight line and revolution Movement, and the control that can be turned to by the differential of body two sides wheel.Program passes through the letter that acquires to sensor It number is analyzed, drives the moving handle leaflet of idler wheel to sort out one by one from storage material unit to control paper delivery motor. The detection of sensor real-time perfoming can be avoided and be turned in time to encounter barrier in motion process.This product can pass through electric power storage Pond or solar panels power supply, and with characteristic voice broadcast to reach better the effect of publicity.

Detailed description of the invention

Fig. 1 is the structural diagram of the present invention.

Fig. 2 is the structural schematic diagram at another visual angle of the present invention.

Fig. 3 is the logic diagram of control method of the present invention.

Fig. 4 is the mobile phone interface schematic diagram of BlueSPP software of the present invention.

Specific embodiment

Referring to attached drawing, a kind of leaflet dispensing machines people, the distributor 6 including individual leaflet can be passed out, vehicle frame 1, the vehicle Four wheels 2 are installed in 1 bottom of frame, and each wheel 2 is described by an independent driving of miniature Worm reduction motor 3 Place lithium storage battery 4 and control unit 5 in the middle part of vehicle frame 1；Leaflet distributor 6 is installed at the top of the vehicle frame 1；In the vehicle frame 1 Front installation distance of reaction be 30-50cm ultrasonic distance sensor 7, distance of reaction be 2-3m people's infrared thermal releasing fax Sensor 8, height of the people's pyroelectric infrared sensor 8 apart from ground are greater than 60cm, and the wavelength sensitivity of detecting element is 7 ~10；

The leaflet distributor 6 includes cabinet 61, and be pivoted on boxboard friction pulley 64 on the left and right sides of the cabinet, the cabinet Left or right side boxboard on it is fixed provide the minitype speed reducing motor 65 of power to the friction pulley, setting passes in the cabinet 61 Single containing tank 62,62 rear end of leaflet containing tank and the box baseplate are hinged, front end is supported by spring 63；The cabinet 61 Upper also fixed leaflet exports slot 66, and the leaflet export slot 66 is in tilted layout, rear end corresponding to 62 front end of leaflet containing tank, Front end is stretched out except the cabinet 61, is opened up loophole 67 on the leaflet export slot 66, is for incuding the loophole 67 The no infrared sensor 68 being occluded is mounted on the cabinet 61；

Described control unit 5 includes single-chip microcontroller, HC-05 bluetooth module, L298N drive module；The mobile phone installation BlueSPP is soft To connect and match with the HC-05 bluetooth module, the HC-05 bluetooth module is carried out part by serial port and the single-chip microcontroller Simplex communication, be respectively set under BlueSPP software editing mode key 1,2,3,4,5,7,8,9 for advance, turn right, turn left, It retreats, stop, distributing leaflets, stopping paying out leaflet, pattern switching, when pressing 9 key, leaflet dispensing machines people is in automatic cruise mode and hand Switch between dynamic control model；

It is automatic cruise mode when single-chip microcontroller receives signal, the L298N drive module controls four miniature worm and gears The synchronous rotation of decelerating motor 3 makes four wheels 2 synchronize rotation realization straight ahead counterclockwise；When single-chip microcontroller receives ultrasonic wave Range sensor 7 but distance is judged after not receiving the digital signal of people's pyroelectric infrared sensor 8, when distance is close to 30cm threshold value When, the L298N drive module, which controls four miniature Worm reduction motors 3 and synchronizes, to be stopped, then control inside two A miniature Worm reduction motor 3 rotates synchronously, miniature 3 reverse sync of Worm reduction motor in outside turns Dynamic two wheels 2 for making inside synchronize rotate clockwise, two wheels 2 in outside synchronize rotation counterclockwise to real The turning of 90 degree of existing original place；When single-chip microcontroller receives ultrasonic distance sensor 7 while receiving the number of people's pyroelectric infrared sensor 8 After signal, the L298N drive module, which controls four miniature Worm reduction motors 3 and synchronizes, to be stopped；When single-chip microcontroller is received When issuing digital signal to infrared sensor 68, the L298N drive module control minitype speed reducing motor 65 stops always, when After single-chip microcontroller receives the time that the sending of infrared sensor 68 digital signal is persistently set, the two miniature worm gears in control inside Two on the inside of worm speed-down motor 3 rotates synchronously, miniature 3 reverse sync of the Worm reduction motor rotation in outside makes The wheel 2 synchronize rotate clockwise, two wheels 2 in outside synchronize rotation counterclockwise to realize 90 degree of original place turn Curved, then controlling four miniature synchronous rotations of Worm reduction motor 3 makes four wheels 2 synchronize rotation counterclockwise Realize straight ahead；When single-chip microcontroller, which does not receive infrared sensor 68, issues digital signal, the L298N drive module control The circle number of the rotation setting of minitype speed reducing motor 65 passs out a Zhang Chuandan.

Further include the speaker 9 for being placed in 1 middle part of vehicle frame, is passed when the single-chip microcontroller receives ultrasonic distance simultaneously After the digital signal of sensor 7 and people's pyroelectric infrared sensor 8, control the 9 play cuing voice of speaker, when it receive it is red After the digital signal of outside line sensor 68, plays and thank to voice.

It further include a solar energy photovoltaic panel 69, the hinge of solar energy photovoltaic panel 69, which is located on the cabinet 61, also serves as lid Plate；The solar energy photovoltaic panel 69 is 4 electric energy supplement of lithium storage battery.

The leaflet dispensing machines people can switch at any time automatic cruise mode or MANUAL CONTROL mode under the control of mobile phone； Under automatic cruise mode, leaflet dispensing machines people can walk in a spacious place, sense front obstacle When for human body, is stopping at human body 30-50cm, a new leaflet is passed out if the leaflet in distributor 6 is removed, if Leaflet is removed again, then passs out a new leaflet again, until leaflet is no longer removed；Leaflet is not still after the time of setting When being removed again, continue straight ahead after turning over an angle of 90 degrees degree in situ；Its sense front obstacle be it is non-human when, At barrier 30-50cm original place turn over an angle of 90 degrees degree after continue straight ahead；It loops back and forth like this；In the manual control Under molding formula, control people can be controlled leaflet dispensing machines people by mobile phone and advance, retreats, stops, turning, pass leaflet and stopping Pass leaflet.The play cuing voice when stopping at human body 30-50cm plays when the leaflet passed out is removed and thanks to language Sound.

The present invention has aimed at " machine substitute human labor " in the vacancy in the market, and has complied with " intelligence makes future " under overall background reason It reads, is cooperated by the sensor under cleverly mechanical structure and ready-made program control, make the machine on the basis of being easy to research and development, Also have a vast market foreground.The automatic leaflet machine of intelligence belongs to a intention product, and traditional printed matter publicity market is Never it is defined on mistake on machine, i.e. the core competitiveness of the machine is " getting ahead of others ".It, can be external on the later period improves Mechanical arm realizes leaflet movement distribution and addition LED display, makes roll titles or dynamic expression, reinforces publicity effect Fruit.

The control program of write-in single-chip microcontroller is listed below to more fully understand the present invention.

#include<reg52.h>

// define the port L298N

sbit in1 = P0^0;

sbit in2 = P0^1;

sbit in3 = P0^2;

sbit in4 = P0^3;

sbit in5 = P0^4;

sbit in6 = P0^5;

// define loudspeaker control port

sbit laba = P2^0;

// define pyroelectricity port

sbit SR501 = P2^1;

// define two exterior interrupts

sbit inte_0 = P3^2;

sbit inte_1 = P3^3;

// define ultrasonic wave module port

sbit trig = P1^2;

sbit echo = P1^3;

unsigned int guang;// infrared sensor state, 1 covers, 0 does not cover

unsigned int n ,a;// judge number, timing number

unsigned int x,distance,out_TH0,out_TL0;The dependency number of // ultrasonic distance measurement

unsigned int DSBUF=0;// read SBUF

int flag;// overflow indicator

void delay(unsigned int z);

void delay_us(unsigned int aa);

void delay_20us();

void f(void);

void b(void);

void l(void);

void r(void);

void stop(void);

void chao(void);

void init_time();

void Bluetooth_init();

void right_Q(unsigned char pwm);// leaflet motor is forward

void right_stop();// leaflet motor stops

void panduan (void);// movement of leaflet motor is judged when ultrasound examination is to object

/***************

Main program

************/

void main(void)

{

Bluetooth_init();The initialization of // bluetooth module

TI=0;

guang = 0;

laba = 0;

while(1)

{

If (DSBUF==' 1') // 1 advance

f();

If (DSBUF==' 2') // 2 right-hand rotations

l();

If (DSBUF==' 3') // 3 left-hand rotations

r();

If (DSBUF==' 4') // 4 retrogressings

b();

If (DSBUF==' 5') // 5 stoppings

stop();

If (DSBUF==' 7') // 7 distributes leaflets

{ stop();

right_Q(80);

}

If (DSBUF==' 8') // 8 leaflets stop

{

right_stop();

}

If (DSBUF==' 9') // 9 is switched to automatic mode

{

f();// default is advanced

If (inte_0==1) // determine whether leaflet

{

guang = 0;

}else{

guang = 1;

}

chao();// obtain distance

There is object in if (distance≤50) // preset distance

{

If (SR501=1) // pyroelectricity has signal, detects as people

{

laba = 1;

if(inte_0==0)

{

guang = 1;

}else{

guang = 0;

}

stop();

EA = 0;

panduan();

EA = 1;

laba = 0;

{ // pyroelectricity no signal, is detected as object to else

r();

delay(4000);

}

}

}

}

}

/***************

The control function of trolley

************/

Void r (void) // trolley is turned right

{

in1 = 0;

in2 = 1;

in3 = 1;

in4 = 0;

}

Void l (void) // trolley turns left

{

in1 = 1;

in2 = 0;

in3 = 0;

in4 = 1;

}

Void b (void) // trolley retreats

{

in1 = 1;

in2 = 0;

in3 = 1;

in4 = 0;

}

Void f (void) // trolley advances

{

in1 = 0;

in2 = 1;

in3 = 0;

in4 = 1;

}

Void stop (void) // trolley stops

{

in1 = 0;

in2 = 0;

in3 = 0;

in4 = 0;

}

/***************

Distribute leaflets the control function of part

************/

// leaflet motor is forward by void right_Q (unsigned char pwm)

{

in5 = 0;

in6 = 1;

delay_us( pwm );

in5 = 0;

in6 = 0;

delay_us( 100 - pwm );

}

Void right_stop () // leaflet motor stops

{

in5 = 0;

in6 = 0;

}

void panduan (void)

{

if(n == 2)

{

a = 1200;

}else{

a = 0;

}

If (guang==0) if unobstructed before // infrared sensor

{

while(a>=1)

{

right_Q(80);

a--;

}

a = 0;

right_stop();

delay(3000);

l();

delay(4700);

{ // infrared ray is occluded else, illustrates that one is not removed

stop();

delay(5000);// stop 5s and continue to walk

l();It is delayed after // right-hand rotation

delay(4700);

}

}

/***************

The function that bluetooth and serial ports interrupt

************/

Void Bluetooth_init () // initialization of (a) serial ports

{

SCON = 0x50;// serial ports mode 1, allows to receive

TMOD = 0x20;//T1 operating mode is 2, automatic to reset

PCON = 0x00;// baud rate does not double

TH1 = 0xfd;// setting baud rate is 9600

TL1 = 0xfd;

RI = 0;

REN = 1;

EA = 1;// open total interruption

ES = 1;// serial ports is opened

PS = 1;// serial ports is preferential

TR1 = 1;

}

Void Serial (void) 4 // serial ports of interrupt interrupts

{

while(!RI);

DSBUF = SBUF;// write-in

RI = 0;// read flag clear

if(tempbuf=='9')

{

n = 2;

}else{

n = 1;

}

}

/***************

Ultrasonic wave module and timer interruption function

************/

void chao(void)

{

/***************

Activate ultrasonic wave

************/

init_time();// initialization timer

flag = 0;// set Overflow flag be 0

// control mouth sends out the high level of a 10US or more

trig = 1;

delay_20us();// Time Delay Opening ultrasonic wave

delay_20us();// confirmation delay

trig = 0;

// wait receiving end high level occur

while(!echo);

TR0 = 1;// starting timer starts timing

while(echo);// wait high level to terminate

TR0 = 0;// close low level

ET0 = 0;

/***************

Distance calculates

************/

out_TH0 = TH0;// take the value of timer

out_TL0 = TL0;

out_TH0 <<= 8;// move to right 8

distance = out_TH0 | out_TL0;// merge into 16 values

distance /= 58;

If (flag==1) // exceed ultrasonic measurement range if timer overflows

{

flag = 0;

}

}

Void timer0 () 1 // interrupt function of interrupt

{

flag=1;// overflow indicator position 1

}

void init_time()

{

TMOD |= 0x01;// to select 0 efforts mode of timer be mode 1

TH0 = 0;// dress initial value 0

TL0 = 0;

TF0 = 0;// interrupt Overflow flag

ET0 = 1;// Open Timer device interrupts

EA = 1;// open total interruption

}

/***************

Delay function

************/

void delay(unsigned int z)

{

unsigned int x, y;

for(x = z; x > 0 ; x--)

for(y=110;y>0;y--)

;

}

void delay_us(unsigned int aa)

{

while(aa--);

}

void delay_20us()

{

unsigned char a ;

for(a=0;a<100;a++);

}

Claims (5)

1. a kind of leaflet dispensing machines people can pass out the distributor (6) of individual leaflet including one, it is characterised in that: leaflet point Hair robot can switch at any time automatic cruise mode or MANUAL CONTROL mode under the control of mobile phone；In automatic cruise mode Under, leaflet dispensing machines people can walk in a spacious place, when sensing front obstacle is human body, in distance Stop at human body 30-50cm, passs out a new leaflet if the leaflet in distributor (6) is removed, if leaflet is removed again, A new leaflet is then passed out again, until leaflet is no longer removed；When leaflet is still no longer removed after the time of setting, Continue straight ahead after turning over an angle of 90 degrees degree in situ；It is when it is non-human for sensing front obstacle, apart from barrier Straight ahead is continued after turning over an angle of 90 degrees degree in original place at 30-50cm；It loops back and forth like this；Under the MANUAL CONTROL mode, control People processed can be controlled leaflet dispensing machines people by mobile phone and advance, retreats, stops, turning, pass leaflet and leaflet is passed in stopping.

2. a kind of leaflet dispensing machines people according to claim 1, it is characterised in that: stop at human body 30-50cm Play cuing voice when only plays when the leaflet passed out is removed and thanks to voice.

3. a kind of leaflet dispensing machines people according to claim 1, it is characterised in that: including vehicle frame (1), the vehicle frame (1) four wheels (2) are installed in bottom, and each wheel (2) is independently driven by a miniature Worm reduction motor (3) Dynamic, lithium storage battery (4) and control unit (5) are placed in the middle part of the vehicle frame (1)；Installation leaflet distribution at the top of the vehicle frame (1) Device (6)；In the front of the vehicle frame (1), installation distance of reaction is the ultrasonic distance sensor (7) of 30-50cm, distance of reaction For people's pyroelectric infrared sensor (8) of 2-3m, height of the people's pyroelectric infrared sensor (8) apart from ground is greater than 60cm, the wavelength sensitivity of detecting element are 7 ~ 10；

The leaflet distributor (6) includes cabinet (61), is pivoted on boxboard friction pulley (64) on the left and right sides of the cabinet, institute State the fixed minitype speed reducing motor (65) to friction pulley offer power, the cabinet on the left or right side boxboard of cabinet (61) leaflet containing tank (62) are set in, leaflet containing tank (62) rear end and the box baseplate be hinged, front end is by spring (63) it supports；Also fixed leaflet export slot (66), leaflet export slot (66) are in tilted layout on the cabinet (61), rear end pair Leaflet containing tank (62) front end described in Ying Yu, front end are stretched out except the cabinet (61), are opened up on leaflet export slot (66) Loophole (67) is mounted on the cabinet for incuding the infrared sensor (68) whether the loophole (67) is occluded (61) on；

Described control unit (5) includes single-chip microcontroller, HC-05 bluetooth module, L298N drive module；The mobile phone installs BlueSPP Software to connect and match with the HC-05 bluetooth module, the HC-05 bluetooth module by serial port and the single-chip microcontroller into Key 1,2,3,4,5,7,8,9 is respectively set under BlueSPP software editing mode as advance, right-hand rotation, a left side in row simplex communication Turn, retreat, stopping, distributing leaflets, stopping paying out leaflet, pattern switching, when pressing 9 key, leaflet dispensing machines people is in automatic cruise mode Switch between MANUAL CONTROL mode；

It is automatic cruise mode when single-chip microcontroller receives signal, the L298N drive module controls four miniature worm and gears Decelerating motor (3) synchronous rotation makes four wheels (2) synchronize rotation realization straight ahead counterclockwise；When single-chip microcontroller receive it is super Sound wave range sensor (7) but distance is judged after not receiving the digital signals of people's pyroelectric infrared sensor (8), when distance is close When 30cm threshold value, the L298N drive module, which controls four miniature Worm reduction motors (3) and synchronizes, to be stopped, then It is electric that the miniature Worm reduction motor (3) of control inside two rotates synchronously, the miniature worm and gear in outside slows down Machine (3) reverse sync rotation make inside two wheels (2) synchronize rotate clockwise, two wheels (2) in outside Rotation counterclockwise is synchronized to realize the turning of 90 degree of original place；When single-chip microcontroller receives ultrasonic distance sensor (7) while receiving people After the digital signal of pyroelectric infrared sensor (8), the L298N drive module controls four miniature worm and gears and slows down Motor (3) is synchronous to be stopped；When single-chip microcontroller, which receives infrared sensor (68), issues digital signal, the L298N drive module Control minitype speed reducing motor (65) stops always, persistently sets when single-chip microcontroller receives infrared sensor (68) sending digital signal Time after, the miniature Worm reduction motors (3) of control inside two rotate synchronously, the miniature worm gear snail in outside The rotation of bar decelerating motor (3) reverse sync synchronizes two wheels (2) of inside to rotate clockwise, described in two of outside Wheel (2), which synchronizes, rotates to realize counterclockwise the turning of 90 degree of original place, and then the miniature worm and gears of control four slow down electric Machine (3) synchronous rotation makes four wheels (2) synchronize rotation realization straight ahead counterclockwise；When single-chip microcontroller does not receive infrared ray When sensor (68) issues digital signal, the circle number of L298N drive module control minitype speed reducing motor (65) the rotation setting Pass out a Zhang Chuandan.

4. a kind of leaflet dispensing machines people according to claim 3, it is characterised in that: further include one and be placed in the vehicle Speaker (9) in the middle part of frame (1), when the single-chip microcontroller receives ultrasonic distance sensor (7) and people's passive sensor simultaneously After the digital signal of device (8), the speaker (9) play cuing voice is controlled, when it receives the number of infrared sensor (68) After word signal, plays and thank to voice.

5. a kind of leaflet dispensing machines people according to claim 3, it is characterised in that: further include a solar energy photovoltaic panel (69), solar energy photovoltaic panel (69) hinge, which is located on the cabinet (61), also serves as cover board；The solar energy photovoltaic panel (69) is Lithium storage battery (4) electric energy supplement.