CN204440165U - A kind of intelligent grass-removing being applicable to rectangle mowing scope - Google Patents
A kind of intelligent grass-removing being applicable to rectangle mowing scope Download PDFInfo
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- CN204440165U CN204440165U CN201520106885.3U CN201520106885U CN204440165U CN 204440165 U CN204440165 U CN 204440165U CN 201520106885 U CN201520106885 U CN 201520106885U CN 204440165 U CN204440165 U CN 204440165U
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Abstract
A kind of intelligent grass-removing being applicable to rectangle mowing scope, comprise microprocessor, described microprocessor connects power module, orientation measurement module, measurement of dip angle module, distance speed measurement module, button setting and alarm module, motor drive module, avoiding obstacles by supersonic wave module and LCD MODULE, described microprocessor is MC9S12XS128 microprocessor, described measurement of dip angle module comprises 3-axis acceleration sensor circuit and gyroscope operating circuit, and described power module comprises 5V mu balanced circuit and 3.3V mu balanced circuit.It achieve and really do not need artificial participation and the high automatic positioning intelligent mower of mowing accuracy.The scope of mowing determined by automatic location mower by artificial setting in advance, the degree of accuracy of mowing is by electronic compass, and 3-axis acceleration sensor, photoelectric encoder and two axis gyroscope instrument ensure.
Description
Technical field
The utility model relates to a kind of automated machine field, particularly relates to a kind of intelligent grass-removing being applicable to rectangle mowing scope.
Background technology
Along with expanding economy, the quickening of urban afforestation process, the raising gradually of people's environmental consciousness, Lawn Industry have also been obtained swift and violent development.Pruning large-scale public lawns such as gardens, athletic ground, campus, airports every year and safeguarding all needs to consume a large amount of human and material resources and financial resources.Traditional mowing mode is all that the form by manually adding mower realizes, and because traditional mower automaticity is low, it is large to pollute, can have an impact to practitioner's body and mind, health.Therefore, traditional mower is just replaced by intelligent grass-removing, and intelligent grass-removing becomes the mark of era development day by day.
Existing intelligent grass-removing needs before using to be fenced up in inaccessiable to border, lawn, stationary obstruction and mower region tectonic boundary fence with cable, form perform region, intelligent grass-removing robot is navigated by the electric signal in induction cable.
The maximum mowing mode of existing use will inevitably need artificial participation, so just makes the efficiency of mowing reduce, and wastes a large amount of human resources.The gasoline that traditional mower uses or diesel engine, namely cause environmental pollution and waste non-renewable resources.Even intelligent grass-removing is also need a lot of peripheral hardware to guarantee the work accuracy rate of mower, the waste which adds resource too increases workload.
Utility model content
In order to solve the problems of the technologies described above, the utility model proposes a kind of intelligent grass-removing being applicable to rectangle mowing scope, it can realize autonomous location, completely without the need to artificial participation without electronic navigation.
To achieve these goals, the technical solution of the utility model is:
A kind of intelligent grass-removing being applicable to rectangle mowing scope, comprise microprocessor, described microprocessor connects power module, orientation measurement module, measurement of dip angle module, distance speed measurement module, button setting and alarm module, motor drive module, avoiding obstacles by supersonic wave module and LCD MODULE, described microprocessor is MC9S12XS128 microprocessor, described measurement of dip angle module comprises 3-axis acceleration sensor circuit and gyroscope operating circuit, and described power module comprises 5V mu balanced circuit and 3.3V mu balanced circuit.
Described 3-axis acceleration sensor circuit comprises ADXL345 chip, described ADXL345 chip 13 pin connects the output voltage of 3.3V mu balanced circuit by resistance R4, described ADXL345 chip 13 pin connects the output voltage of 3.3V mu balanced circuit by resistance R47, described ADXL345 chip 13 pin connects the drain electrode of metal-oxide-semiconductor Q5, the grid of described metal-oxide-semiconductor Q5 connects the output voltage of 3.3V mu balanced circuit, the source electrode of described metal-oxide-semiconductor Q5 connects the PE1 pin of MC9S12XS128 microprocessor, the source electrode of described metal-oxide-semiconductor Q5 connects the output voltage of 5V mu balanced circuit by resistance R48, described ADXL345 chip 14 pin connects the output voltage of 3.3V mu balanced circuit by resistance R5, described ADXL345 chip 14 pin connects the output voltage of 3.3V mu balanced circuit by resistance R45, described ADXL345 chip 14 pin connects described in the drain electrode of metal-oxide-semiconductor Q4, the grid of metal-oxide-semiconductor Q4 connects the output voltage of 3.3V mu balanced circuit, the source electrode of metal-oxide-semiconductor Q4 connects the PE0 pin of MC9S12XS128 microprocessor, the source electrode of described metal-oxide-semiconductor Q4 connects the output voltage of 5V mu balanced circuit by resistance R46, described ADXL345 chip 6 pin connects the output voltage of 3.3V mu balanced circuit by resistance R10, described ADXL345 chip 7 pin connects the output voltage of 3.3V mu balanced circuit by resistance R11, described ADXL345 chip 12 pin is by resistance R9 ground connection, 2 pins of described ADXL345 chip, 4 pins and 5 pin ground connection.
Described gyroscope operating circuit comprises ENC-03MB, the VCC pin of described ENC-03MB connects the output voltage of 3.3V mu balanced circuit, the GND pin ground connection of described ENC-03MB, the VREF pin of described ENC-03MB connects the IN+ pin of TLV2211 by resistance R19, the OUT pin of described ENC-03MB connects the IN-pin of TLV2211 by resistance R27, the IN-pin of described TLV2211 connects the OUT pin of TLV2211 by resistance R28, described resistance R28 is connected in parallel electric capacity C12, the OUT pin of described TLV2211 connects the AD0 pin of MC9S12XS128 microprocessor by resistance R24, described 3.3V stabilized circuit outputting voltage is successively by resistance R18, resistance R17 ground connection, described resistance R17 and the node between resistance R18 are connected the IN+ pin of TLV2211 by resistance R21, the VCC pin of described TLV2211 connects 3.3V stabilized circuit outputting voltage, the GND pin ground connection of TLV2211.
Described orientation measurement module comprises electronic compass circuit, described electronic compass circuit comprises HMC5883L chip, 13 pins of described HMC5883L chip, SI pin is connected the output voltage of 3.3V mu balanced circuit with VDD pin, the SCL pin of described HMC5883L chip connects the output voltage of 3.3V mu balanced circuit by resistance R18, the SCL pin of described HMC5883L chip passes through the drain electrode of metal-oxide-semiconductor Q1, the grid of described metal-oxide-semiconductor Q1 connects the output voltage of 3.3V mu balanced circuit, the source electrode of described metal-oxide-semiconductor Q1 connects the PE3 pin of MC9S12XS128 microprocessor, the output voltage of described 5V mu balanced circuit connects the source electrode of metal-oxide-semiconductor Q1 by resistance R19, the SDA pin of described HMC5883L chip connects the output voltage of 3.3V mu balanced circuit by resistance R25, the SDA pin of described HMC5883L chip passes through the drain electrode of metal-oxide-semiconductor Q2, the grid of metal-oxide-semiconductor Q2 connects the output voltage of 3.3V mu balanced circuit, the source electrode of described metal-oxide-semiconductor Q2 connects the PE4 pin of MC9S12XS128 microprocessor, the output voltage of described 5V mu balanced circuit connects the source electrode of metal-oxide-semiconductor Q2 by resistance R26, the DRDY pin of described HMC5883L chip connects the output voltage of 3.3V mu balanced circuit by resistance R51, the DRDY pin of described HMC5883L chip passes through the drain electrode of metal-oxide-semiconductor Q3, the grid of described metal-oxide-semiconductor Q3 connects the output voltage of 3.3V mu balanced circuit, the source electrode of described metal-oxide-semiconductor Q3 connects the PA2 pin of MC9S12XS128 microprocessor, the output voltage of described 5V mu balanced circuit connects the source electrode of metal-oxide-semiconductor Q3 by resistance R52.
Described button arranges and comprises key circuit and bell circuit with alarm module, and described key circuit structure is, described 5V stabilized circuit outputting voltage passes through resistance R31 successively, switch S 1 ground connection; Node between described resistance R31 and switch S 1 connects the PB4 pin of MC9S12XS128 microprocessor; Described 5V stabilized circuit outputting voltage passes through resistance R32 successively, switch S 2 ground connection; Node between described resistance R32 and switch S 2 connects the PB5 pin of MC9S12XS128 microprocessor; Described 5V stabilized circuit outputting voltage passes through resistance R33 successively, switch S 3 ground connection; Node between described resistance R33 and switch S 3 connects the PB6 pin of MC9S12XS128 microprocessor; Described 5V stabilized circuit outputting voltage passes through resistance R34 successively, switch S 4 ground connection; Node between described resistance R34 and switch S 4 connects the PB7 pin of MC9S12XS128 microprocessor.15564113593
The beneficial effects of the utility model are: really do not need artificial participation and the high automatic positioning intelligent mower of mowing accuracy.The scope of mowing determined by automatic location mower by artificial setting in advance, the degree of accuracy of mowing is by electronic compass, and 3-axis acceleration sensor, photoelectric encoder and two axis gyroscope instrument ensure.
Accompanying drawing explanation
Fig. 1 the utility model one-piece construction block diagram;
Fig. 2 single-chip minimum system figure;
Figure 35 V mu balanced circuit;
Fig. 4 liquid crystal display circuit;
Figure 53 .3V mu balanced circuit;
Fig. 6 key circuit;
Fig. 7 ultrasonic circuit;
Fig. 8 electronic compass circuit;
Fig. 9 photoelectric encoder circuit;
Figure 10 light every and driving circuit;
Figure 11 bell circuit;
Figure 12 3-axis acceleration sensor circuit;
Figure 13 gyroscope operating circuit;
Figure 14 keeps away barrier schematic diagram;
Figure 15 repeats mowing district schematic diagram;
The monolateral low-lying mowing schematic diagram of Figure 16;
Figure 17 mows overall procedure schematic diagram.
Embodiment
In order to better understand the technical solution of the utility model, below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1, a kind of intelligent grass-removing being applicable to rectangle mowing scope, comprise microprocessor, microprocessor connects power module, orientation measurement module, measurement of dip angle module, distance speed measurement module, button setting and alarm module, motor drive module, avoiding obstacles by supersonic wave module and LCD MODULE.
The whole device of Microprocessor S3C44B0X, power module is responsible for powering to whole device, the direction of motion of orientation measurement module and measurement of dip angle module monitors mower is also measured in mowing approach due to pitch angle that Uneven road causes, and make compensate ensure mower linearly run, distance speed measurement module is responsible for the speed of a motor vehicle and the operating range of monitoring mower, button arranges alarm when finishing the work for Initialize installation and mower with alarm module, motor drive module is used for drive motor provides power to whole device, avoiding obstacles by supersonic wave module is carried out detection by excusing from death ripple to the barrier travelled in road and is also effectively avoided.
As shown in Figure 2, microprocessor is MC9S12XS128 microprocessor, and MC9S12XS series is one and is absorbed in low-power consumption, high performance efficient automobile level 16 8-digit microcontroller product.Operating voltage is 5V, and storer has 128KB FLASH, 2KB EEPROM, 8KB RAM; 16 channel modulus converters, the precision of optional 8,10 and 12; The PWM of 88 passages or 16 4 passages; 2 asynchronous serial communication SCI and 2 synchronous serial equipment interface SPI; CRG clock and reseting generator: phaselocked loop, house dog, real-time interrupt, enhancement mode catches timer.XS128 single-chip microcomputer has low-power consumption, the advantages such as ultrafast arithmetic speed, powerful function, cheap price.
Power module adopts the lead accumulator series-fed of two pieces of 12V, and power module comprises 5V mu balanced circuit and 3.3V mu balanced circuit.
MC9S12XS128 is 16 single-chip microcomputers that Freescale company produces, powerful.The operating voltage of MC9S12XS128 is only 5V, and storer has 128KB FLASH, 2KBEEPROM, 8KB RAM; 16 channel modulus converters, the precision of optional 8,10 and 12; The PWM of 88 passages or 16 4 passages; 2 asynchronous serial communication SCI and 2 synchronous serial equipment interface SPI; CRG clock and reseting generator: phaselocked loop, house dog, real-time interrupt, enhancement mode catches timer.Single-chip minimum system is primarily of crystal oscillating circuit, reset circuit, electric power generating composition.
What mower adopted is direct current 24V voltage driven, and the supply voltage of Freescale single-chip microcomputer is 5V.
As shown in Figure 3, 5V mu balanced circuit comprises LM2941 chip, the IN pin of LM2941 chip is by electric capacity C22 ground connection, electric capacity C22 is connected in parallel polar capacitor C19, the positive pole of polar capacitor C19 connects the IN pin of LM2941 chip, the IN pin of LM2941 chip connects 24V voltage source, the GND pin of LM2941 chip and ON/OFF pin ground connection, the ADJ pin of LM2941 chip is by resistance R41 ground connection, the OUT pin of LM2941 chip connects ADJ pin by resistance R37, node between resistance R37 with resistance R41 is connected 2 pins and 3 pins of swept resistance R44, the OUT pin of LM2941 chip is by electric capacity C18 ground connection, electric capacity C18 is connected in parallel polar capacitor C20, the positive pole of polar capacitor C20 connects the OUT pin of LM2941 chip, 5V in figure represents that output voltage is 5V.
By the mu balanced circuit of upper figure, 24V voltage is reduced to 5V voltage.Electric capacity C19 wherein, C22, C20, C18 are filter capacitors, and object is the low-and high-frequency clutter of filtering input and output, and R44 is slide resistor, by the size regulating the size of swept resistance place in circuit resistance to change output voltage.
As shown in Figure 4, liquid crystal display circuit adopts 12864 chips, and the serial communication of 12864 liquid crystal employings, controls simply like this and wiring is few.R47 is slide rheostat, and object is the brightness of adjusting screen.
What the sensor gyroscope that mower uses adopted is 3.3V power voltage supply, and as shown in Figure 5, needing 5V voltage transitions is 3.3V voltage, and the voltage stabilizing chip of employing is LM1117.
As shown in Figure 6, key circuit structure is, 5V stabilized circuit outputting voltage passes through resistance R31 successively, switch S 1 ground connection; Node between resistance R31 and switch S 1 connects the PB4 pin of MC9S12XS128 microprocessor; 5V stabilized circuit outputting voltage passes through resistance R32 successively, switch S 2 ground connection; Node between resistance R32 and switch S 2 connects the PB5 pin of MC9S12XS128 microprocessor; 5V stabilized circuit outputting voltage passes through resistance R33 successively, switch S 3 ground connection; Node between resistance R33 and switch S 3 connects the PB6 pin of MC9S12XS128 microprocessor; 5V stabilized circuit outputting voltage passes through resistance R34 successively, switch S 4 ground connection; Node between resistance R34 and switch S 4 connects the PB7 pin of MC9S12XS128 microprocessor.
The effect of S1 button is switching on and shutting down, click be start, then click be shutdown.S2 arranges key, is in the state of setting after clicking, and is the length arranging mowing region by second time, is the width arranging mowing region by the 3rd time, arranges the overlapping widths in mowing region by the 4th time, then to click be exactly be provided with, and mower is started working.S3, S4 are add-substract key respectively.
As shown in Figure 7, avoiding obstacles by supersonic wave module adopts HC-SR04, the SCL of HC-SR04 connects the PA0 pin of MC9S12XS128 microprocessor, the SDA of HC-SR04 connects the PA1 pin of MC9S12XS128 microprocessor, 5V is adopted to power, operating circuit is simple, and only need a data lines PA1, a clock line PA0 and XS128 connects.
Adopt HC-SR04 ultrasonic distance measuring module, this module can provide the contactless distance sensing function of 2cm-400cm, and distance accuracy can reach high to 3mm; Module comprises ultrasonic transmitter, receiver and control circuit.Basic functional principle: (1) adopts I/O port TRIG to trigger range finding, to the high level letter of minimum 10us is.(2) module sends the square wave of 8 40khz automatically, and whether automatic detection has signal to return; (3) have signal to return, export a high level by I/O port ECHO, the time that high level continues is exactly that ultrasound wave is from being transmitted into the time returned.Measuring distance=(the high level time * velocity of sound (340M/S))/2.
As shown in Figure 8, electronic compass circuit comprises HMC5883L chip, 13 pins of HMC5883L chip, SI pin is connected the output voltage of 3.3V mu balanced circuit with VDD pin, the SCL pin of HMC5883L chip connects the output voltage of 3.3V mu balanced circuit by resistance R18, the SCL pin of HMC5883L chip passes through the drain electrode of metal-oxide-semiconductor Q1, the grid of metal-oxide-semiconductor Q1 connects the output voltage of 3.3V mu balanced circuit, the source electrode of metal-oxide-semiconductor Q1 connects the PE3 pin of MC9S12XS128 microprocessor, the output voltage of 5V mu balanced circuit connects the source electrode of metal-oxide-semiconductor Q1 by resistance R19, the SDA pin of HMC5883L chip connects the output voltage of 3.3V mu balanced circuit by resistance R25, the SDA pin of HMC5883L chip passes through the drain electrode of metal-oxide-semiconductor Q2, the grid of metal-oxide-semiconductor Q2 connects the output voltage of 3.3V mu balanced circuit, the source electrode of metal-oxide-semiconductor Q2 connects the PE4 pin of MC9S12XS128 microprocessor, the output voltage of 5V mu balanced circuit connects the source electrode of metal-oxide-semiconductor Q2 by resistance R26, the DRDY pin of HMC5883L chip connects the output voltage of 3.3V mu balanced circuit by resistance R51, the DRDY pin of HMC5883L chip passes through the drain electrode of metal-oxide-semiconductor Q3, the grid of metal-oxide-semiconductor Q3 connects the output voltage of 3.3V mu balanced circuit, the source electrode of metal-oxide-semiconductor Q3 connects the PA2 pin of MC9S12XS128 microprocessor, the output voltage of 5V mu balanced circuit connects the source electrode of metal-oxide-semiconductor Q3 by resistance R52.
Honeywell HMC5883L is a kind of surface-pasted high integration module, and with the weak magnetic sensor chip of digital interface, is applied to low cost compass and magnetic field detection field.HMC5883L comprises state-of-the-art high resolving power HMC118X series magnetoresistive transducer, and the integrated circuit of subsidiary Honeywell patent comprises amplifier, autodegauss driver, deviation calibration, compass precision controlling can be made at 12 analog to digital converters of 1 ° ~ 2 °. easy I2C serial bus interface.HMC5883L adopts unleaded surface mounting technology, with 16 pins, is of a size of 3.0X3.0X0.9mm.Institute's application of HMC5883L has mobile phone, notebook computer, consumer electronics, auto-navigation system and personal navigation system.
The operating voltage of electronic compass circuit is 3.3V, only need clock line SCL, data line SDA and control line DRDY is connected to the PE3 of single-chip microcomputer, PE4 port, on show that the left-half of circuit is level shifting circuit, because electronic compass will communicate with single-chip microcomputer, but respective supply voltage is different, cannot directly communicate.The object of this circuit is to be 5V by 3.3V voltage transitions or to be 3.3V by 5V voltage transitions.
As shown in Figure 9, photoelectric encoder adopts E6A2-CW3C chip, and the supply voltage of photoelectric encoder is 5V, and only A phase need be exported PH_A and B phase exports T7 and the T6 port that PH_B receives microprocessor.The advanced B phase 90 degree of A phase then car moves ahead, otherwise car is backward.Measure the pulse only need counting a wherein phase when moving ahead distance.
As shown in Figure 10, light every and driving circuit be motor-drive circuit, adopt 6N137 optocoupler and BTS7960 chip, 6N137 is a for single pass High-Speed Coupled Device, effect has two: one to be the isolation of formation control circuit and driving circuit, two is level conversion, is very suitable for XS128 high frequency monolithic machine.Signal inputs from pin CA and pin AN, lumination of light emitting diode, in sheet, optical channel passes to photodiode, conducting after back-biased photosensitive tube illumination, deliver to and door input end after current-voltage conversion, be input as Enable Pin with another of door, when Enable Pin is high and door export high level, through output triode oppositely after photoisolator output low level.When current input signal is less than activation threshold value or Enable Pin is low, export high level, but this logic height is open-collector, can add pull-up resistor or voltage-regulating circuit for receiving circuit.Smart power chip BTS7960 is applied to motor-driven big current half-bridge height integrated chip, it is with a low limit MOSFET and driving Ic of the flash MOSFET of a P raceway groove, a N raceway groove, the highest 43A of electric current, its internal resistance is very little, so heat radiation is not very serious, is very suitable for mower and works for a long time.
As shown in figure 11, PE7 only need be received the PE7 pin of single-chip microcomputer by bell circuit, and effect after mowing completes, sends sound to show that work completes.
Measurement of dip angle module comprises 3-axis acceleration sensor circuit and gyroscope operating circuit.
As shown in figure 12, 3-axis acceleration sensor circuit comprises ADXL345 chip, ADXL345 chip 13 pin connects the output voltage of 3.3V mu balanced circuit by resistance R4, ADXL345 chip 13 pin connects the output voltage of 3.3V mu balanced circuit by resistance R47, ADXL345 chip 13 pin connects the drain electrode of metal-oxide-semiconductor Q5, the grid of metal-oxide-semiconductor Q5 connects the output voltage of 3.3V mu balanced circuit, the source electrode of metal-oxide-semiconductor Q5 connects the PE1 pin of MC9S12XS128 microprocessor, the source electrode of metal-oxide-semiconductor Q5 connects the output voltage of 5V mu balanced circuit by resistance R48, ADXL345 chip 14 pin connects the output voltage of 3.3V mu balanced circuit by resistance R5, ADXL345 chip 14 pin connects the output voltage of 3.3V mu balanced circuit by resistance R45, ADXL345 chip 14 pin connects the drain electrode of metal-oxide-semiconductor Q4, the grid of metal-oxide-semiconductor Q4 connects the output voltage of 3.3V mu balanced circuit, the source electrode of metal-oxide-semiconductor Q4 connects the PE0 pin of MC9S12XS128 microprocessor, the source electrode of metal-oxide-semiconductor Q4 connects the output voltage of 5V mu balanced circuit by resistance R46, ADXL345 chip 6 pin connects the output voltage of 3.3V mu balanced circuit by resistance R10, ADXL345 chip 7 pin connects the output voltage of 3.3V mu balanced circuit by resistance R11, ADXL345 chip 12 pin is by resistance R9 ground connection, 2 pins of ADXL345 chip, 4 pins and 5 pin ground connection.
ADXL345 is a little and thin super low-power consumption 3 axis accelerometer, resolution high (13), measurement range reaches ± and 16g. digital output data is 16 two's complement forms, by SPI (3 lines or 4 lines) or the access of I2C digital interface.VS end is power end, and directly connect the selections of 3.3V.CS sheet and directly connect power supply, object makes whole acceleration transducer always in running order.R4, R5 are pull-up resistors, and R9 is 0 Europe resistance, object be isolated digitally with in analog.SDA, SDL receive the PE1 of single-chip microcomputer respectively, and PE0 holds.What communication mode adopted is IIC communication.The object of left-half circuit is to be 5V by 3.3V voltage transitions or to be 3.3V by 5V voltage transitions.
As shown in figure 13, gyroscope operating circuit comprises ENC-03MB, the VCC pin of ENC-03MB connects the output voltage of 3.3V mu balanced circuit, the GND pin ground connection of ENC-03MB, the VREF pin of ENC-03MB connects the IN+ pin of TLV2211 by resistance R19, the OUT pin of ENC-03MB connects the IN-pin of TLV2211 by resistance R27, the IN-pin of TLV2211 connects the OUT pin of TLV2211 by resistance R28, resistance R28 is connected in parallel electric capacity C12, the OUT pin of TLV2211 connects the AD0 pin of MC9S12XS128 microprocessor by resistance R24, 3.3V stabilized circuit outputting voltage is successively by resistance R18, resistance R17 ground connection, node between resistance R17 with resistance R18 is connected the IN+ pin of TLV2211 by resistance R21, and the VCC pin of TLV2211 connects 3.3V stabilized circuit outputting voltage, the GND pin ground connection of TLV2211.
Measurement of dip angle module adds two axis gyroscope instrument (ENC-03) by 3-axis acceleration sensor (ADXL345) and forms.ADXL345 is a little and thin super low-power consumption 3 axis accelerometer, and resolution high (13), measurement range reaches ± 16g.Digital output data is 16 two's complement forms, accesses by SPI or I2C digital interface.ADXL345 is applicable to mobile device application very much.It can measure static weight acceleration in tilt detection application, can also measure motion or impact the dynamic acceleration caused.Its high resolving power (3.9mg/LSB), can measure the angle change less than 1 °.ENC gyroscope is a kind of angular-rate sensor applying coriolis force principle, and gyro exports an analog voltage signal be directly proportional with angular velocity.This gyroscope has the feature of volume and weight little especially, fast response and low driving voltage and power consumption.
As shown in figure 14, ultrasonic sensor is evenly distributed in before mower and the left and right sides, advances in way, if front runs into obstacle what mow, mower can be obtained and the distance of barrier by ultrasonic sensor, thus the direction cut-through of arrows in picture figure.
As shown in figure 15, in order to anti-leak-stopping cuts, adopt overlapping design of mowing, shadow region is the overlay region in first lap mowing region and the second circle mowing region, the object arranging overlay region is deviation when offsetting mower grass, and reached after mower work completes, the region of cutting is not leaked on whole grassland.The width of overlay region is arranged by during mower initial setting up.
As shown in figure 16, when mower have plane mow one-sided take turns be absorbed in low-lying land time, change due to angle of inclination inherently causes the route of advancing to offset, in order to make up this problem, mower passes through change and the size at sensor senses inclination angle, and calculate the offset of the inclined side speed of a motor vehicle, to make working direction for straight line.
As shown in figure 17, the mowing flow process of what this figure showed is mower, is placed on shown position by mower before mowing, sets rear mower and start working, and to turn-take mowing, be parked in original place and send alarm sound, to show that work completes after mowing terminates according to illustrated arrow.
Want to mow to the scope of a 50*50m for user, it is 50*50 that user comes to arrange perform region in mower work, and repeating mowing width is 0.2m (this mowing can cover 20% area of mowing last time again in case leak-stopping cuts).Mower is placed on starting point and ajusts the work of direction startup mower.Working direction in the course of work is provided by electronic compass, the slope in advance process or low-lyingly to be provided by acceleration transducer and gyroscope, and mower carrys out the working direction correction to car according to the angle of feedback.The umber of pulse that the distance of advancing is fed back by photoelectric encoder is determined, rear mower of having mowed is parked in original place and sounds the alarm to show and cut.
By reference to the accompanying drawings embodiment of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.
Claims (5)
1. one kind is applicable to the intelligent grass-removing of rectangle mowing scope, it is characterized in that, comprise microprocessor, described microprocessor connects power module, orientation measurement module, measurement of dip angle module, distance speed measurement module, button setting and alarm module, motor drive module, avoiding obstacles by supersonic wave module and LCD MODULE, described microprocessor is MC9S12XS128 microprocessor, described measurement of dip angle module comprises 3-axis acceleration sensor circuit and gyroscope operating circuit, and described power module comprises 5V mu balanced circuit and 3.3V mu balanced circuit.
2. a kind of intelligent grass-removing being applicable to rectangle mowing scope according to claim 1, it is characterized in that, described 3-axis acceleration sensor circuit comprises ADXL345 chip, described ADXL345 chip 13 pin connects the output voltage of 3.3V mu balanced circuit by resistance R4, described ADXL345 chip 13 pin connects the output voltage of 3.3V mu balanced circuit by resistance R47, described ADXL345 chip 13 pin connects the drain electrode of metal-oxide-semiconductor Q5, the grid of described metal-oxide-semiconductor Q5 connects the output voltage of 3.3V mu balanced circuit, the source electrode of described metal-oxide-semiconductor Q5 connects the PE1 pin of MC9S12XS128 microprocessor, the source electrode of described metal-oxide-semiconductor Q5 connects the output voltage of 5V mu balanced circuit by resistance R48, described ADXL345 chip 14 pin connects the output voltage of 3.3V mu balanced circuit by resistance R5, described ADXL345 chip 14 pin connects the output voltage of 3.3V mu balanced circuit by resistance R45, described ADXL345 chip 14 pin connects described in the drain electrode of metal-oxide-semiconductor Q4, the grid of metal-oxide-semiconductor Q4 connects the output voltage of 3.3V mu balanced circuit, the source electrode of metal-oxide-semiconductor Q4 connects the PE0 pin of MC9S12XS128 microprocessor, the source electrode of described metal-oxide-semiconductor Q4 connects the output voltage of 5V mu balanced circuit by resistance R46, described ADXL345 chip 6 pin connects the output voltage of 3.3V mu balanced circuit by resistance R10, described ADXL345 chip 7 pin connects the output voltage of 3.3V mu balanced circuit by resistance R11, described ADXL345 chip 12 pin is by resistance R9 ground connection, 2 pins of described ADXL345 chip, 4 pins and 5 pin ground connection.
3. a kind of intelligent grass-removing being applicable to rectangle mowing scope according to claim 1 and 2, it is characterized in that, described gyroscope operating circuit comprises ENC-03MB, the VCC pin of described ENC-03MB connects the output voltage of 3.3V mu balanced circuit, the GND pin ground connection of described ENC-03MB, the VREF pin of described ENC-03MB connects the IN+ pin of TLV2211 by resistance R19, the OUT pin of described ENC-03MB connects the IN-pin of TLV2211 by resistance R27, the IN-pin of described TLV2211 connects the OUT pin of TLV2211 by resistance R28, described resistance R28 is connected in parallel electric capacity C12, the OUT pin of described TLV2211 connects the AD0 pin of MC9S12XS128 microprocessor by resistance R24, described 3.3V stabilized circuit outputting voltage is successively by resistance R18, resistance R17 ground connection, described resistance R17 and the node between resistance R18 are connected the IN+ pin of TLV2211 by resistance R21, the VCC pin of described TLV2211 connects 3.3V stabilized circuit outputting voltage, the GND pin ground connection of TLV2211.
4. a kind of intelligent grass-removing being applicable to rectangle mowing scope according to claim 3, it is characterized in that, described orientation measurement module comprises electronic compass circuit, described electronic compass circuit comprises HMC5883L chip, 13 pins of described HMC5883L chip, SI pin is connected the output voltage of 3.3V mu balanced circuit with VDD pin, the SCL pin of described HMC5883L chip connects the output voltage of 3.3V mu balanced circuit by resistance R18, the SCL pin of described HMC5883L chip passes through the drain electrode of metal-oxide-semiconductor Q1, the grid of described metal-oxide-semiconductor Q1 connects the output voltage of 3.3V mu balanced circuit, the source electrode of described metal-oxide-semiconductor Q1 connects the PE3 pin of MC9S12XS128 microprocessor, the output voltage of described 5V mu balanced circuit connects the source electrode of metal-oxide-semiconductor Q1 by resistance R19, the SDA pin of described HMC5883L chip connects the output voltage of 3.3V mu balanced circuit by resistance R25, the SDA pin of described HMC5883L chip passes through the drain electrode of metal-oxide-semiconductor Q2, the grid of metal-oxide-semiconductor Q2 connects the output voltage of 3.3V mu balanced circuit, the source electrode of described metal-oxide-semiconductor Q2 connects the PE4 pin of MC9S12XS128 microprocessor, the output voltage of described 5V mu balanced circuit connects the source electrode of metal-oxide-semiconductor Q2 by resistance R26, the DRDY pin of described HMC5883L chip connects the output voltage of 3.3V mu balanced circuit by resistance R51, the DRDY pin of described HMC5883L chip passes through the drain electrode of metal-oxide-semiconductor Q3, the grid of described metal-oxide-semiconductor Q3 connects the output voltage of 3.3V mu balanced circuit, the source electrode of described metal-oxide-semiconductor Q3 connects the PA2 pin of MC9S12XS128 microprocessor, the output voltage of described 5V mu balanced circuit connects the source electrode of metal-oxide-semiconductor Q3 by resistance R52.
5. a kind of intelligent grass-removing being applicable to rectangle mowing scope according to claim 4, it is characterized in that, described button arranges and comprises key circuit and bell circuit with alarm module, and described key circuit structure is, described 5V stabilized circuit outputting voltage passes through resistance R31 successively, switch S 1 ground connection; Node between described resistance R31 and switch S 1 connects the PB4 pin of MC9S12XS128 microprocessor; Described 5V stabilized circuit outputting voltage passes through resistance R32 successively, switch S 2 ground connection; Node between described resistance R32 and switch S 2 connects the PB5 pin of MC9S12XS128 microprocessor; Described 5V stabilized circuit outputting voltage passes through resistance R33 successively, switch S 3 ground connection; Node between described resistance R33 and switch S 3 connects the PB6 pin of MC9S12XS128 microprocessor; Described 5V stabilized circuit outputting voltage passes through resistance R34 successively, switch S 4 ground connection; Node between described resistance R34 and switch S 4 connects the PB7 pin of MC9S12XS128 microprocessor.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105612909A (en) * | 2016-02-23 | 2016-06-01 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Vision and multisensory fusion based intelligent mowing robot control system |
| CN106168802A (en) * | 2016-04-18 | 2016-11-30 | 深圳众为兴技术股份有限公司 | A kind of location aware device for moving robot |
| CN106227222A (en) * | 2016-09-29 | 2016-12-14 | 山东孚岳电气有限公司 | A kind of obstacle removing robot |
| CN106576570A (en) * | 2016-11-30 | 2017-04-26 | 深圳市阳邦电子股份有限公司 | Drive circuit of automatic mowing machine |
| CN107306803A (en) * | 2017-06-26 | 2017-11-03 | 安徽永牧机械集团有限公司 | A kind of robot shit remover |
| WO2018108180A1 (en) * | 2016-12-15 | 2018-06-21 | 苏州宝时得电动工具有限公司 | Method and device for partitioning working area of self-moving apparatus, and electronic device |
| CN108733041A (en) * | 2017-04-21 | 2018-11-02 | 苏州宝时得电动工具有限公司 | Automatic mobile device and its ultrasonic barrier-avoiding method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105612909A (en) * | 2016-02-23 | 2016-06-01 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Vision and multisensory fusion based intelligent mowing robot control system |
| CN106168802A (en) * | 2016-04-18 | 2016-11-30 | 深圳众为兴技术股份有限公司 | A kind of location aware device for moving robot |
| CN106227222A (en) * | 2016-09-29 | 2016-12-14 | 山东孚岳电气有限公司 | A kind of obstacle removing robot |
| CN106576570A (en) * | 2016-11-30 | 2017-04-26 | 深圳市阳邦电子股份有限公司 | Drive circuit of automatic mowing machine |
| WO2018108180A1 (en) * | 2016-12-15 | 2018-06-21 | 苏州宝时得电动工具有限公司 | Method and device for partitioning working area of self-moving apparatus, and electronic device |
| CN108733041A (en) * | 2017-04-21 | 2018-11-02 | 苏州宝时得电动工具有限公司 | Automatic mobile device and its ultrasonic barrier-avoiding method |
| CN107306803A (en) * | 2017-06-26 | 2017-11-03 | 安徽永牧机械集团有限公司 | A kind of robot shit remover |
| US11793109B2 (en) | 2020-02-13 | 2023-10-24 | Techtronic Cordless Gp | Lawnmowers with safety features and methods associated therewith |
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