小型扫雪机手机控制系统的设计与研究

发布时间：2018-06-22 02:43

本文选题：小型扫雪机 + 手机控制　；参考：《西南大学》2017年硕士论文

【摘要】：在较高纬度地区例如我国北方和欧美部分区域,冬季降雪期长且降雪量大,庭院积雪给居民的生活带来诸多不便。目前多采用人工或者小型扫雪机清除庭院等小范围的积雪,使用小型扫雪机进行除雪相比人工扫雪具有更高效、更节约人力成本等优势,因而在国内外逐步推广。现有的小型扫雪机多为手扶式,操作人员需要在雪地里进行除雪作业,工作环境恶劣。目前,智能手机已被广泛使用且在智能家居和移动机器人控制等领域已有大量研究,但现阶段对手机远程控制小型扫雪机的研究报道较少,因此可参考其他领域的智能手机控制技术研究小型扫雪机手机控制系统。结合智能手机控制技术提升小型扫雪机的自动化水平,使操作人员可在舒适的环境下例如待在温暖的室内用智能手机控制扫雪机作业,对于提高人们的生活质量具有积极的意义。本论文设计了基于Android平台的扫雪机智能手机客户端程序;选用PIC18F46K22单片机作为主控芯片设计了扫雪机控制器;在扫雪机上安装摄像头和Wi-Fi通信模块,实现使用手机对扫雪机进行远程控制。设计研究的小型扫雪机手机控制系统包括Android智能手机客户端程序、扫雪机控制器、Wi-Fi通信模块、摄像头、行走轮驱动电机、抛雪方向控制电机、集雪器电机及蓄电池。手机客户端程序接收并显示Wi-Fi通信模块传输的摄像头视频数据,通过Wi-Fi网络发送控制命令至扫雪机控制器,实现扫雪指令发送和除雪现场视频传输的功能;扫雪机控制器通过Wi-Fi通信模块接收手机的操纵指令,控制集雪器电机、抛雪方向控制电机和行走电机执行相应命令,实现远程控制扫雪机;同时扫雪机控制器利用IGBT控制集雪器电机的最大电流,并同步分阶段控制扫雪机的行走速度,减少单位时间的除雪量,从而降低集雪器电机的负载,解决集雪器电机过载甚至堵转烧毁的问题;扫雪机控制器利用微型陀螺仪对行走路径进行修正,提高扫雪机直线行驶性能,解决扫雪机在雪地行驶过程中容易发生行驶跑偏的问题,提升了操纵方便性。试验结果表明,论文所研究的手机客户端软件可以通过Wi-Fi无线网络有效控制扫雪机进行除雪作业,视频显示流畅;扫雪机控制器在稳定执行手机端控制命令的同时能够对集雪器电机进行限流控制,在集雪器电机电流超过30A后降低电机端电压从而限制了电机电流,并将集雪器电机堵转电流控制在32A;控制器在集雪器电机过载后对行走速度进行了同步分阶段控制,在110s内行走电机输出轴转速从160r/min降低到47r/min,并在120s关闭了行走电机;控制器自动对扫雪机前进方向进行纠偏,在10m测试中行驶轨迹最大偏移距离为0.5m。
[Abstract]:In higher latitudes such as northern China and parts of Europe and America, the snowfall period in winter is long and the snowfall amount is large. At present, the use of artificial or small snow mowers to clear small areas of snow such as courtyard snow, the use of small snowmowers has more efficient compared with manual snow sweeping, more cost savings and other advantages, so it is gradually popularized at home and abroad. Most of the existing small snow-sweepers are hand-held, the operator needs snow removal in the snow, the working environment is harsh. At present, smart phones have been widely used and have been widely studied in the fields of smart home and mobile robot control, but there are few reports on the remote control of small snow mowers by mobile phones. Therefore, we can refer to other fields of smart phone control technology to study the small snow sweeper mobile phone control system. Combined with smart phone control technology to improve the automation level of small snow sweeper, so that operators can control snow sweeper in comfortable environment, such as in a warm room with a smart phone. To improve people's quality of life has a positive significance. In this paper, we design the client program of snow sweeper based on Android platform, choose PIC18F46K22 as the main control chip to design the controller of snow mower, install the camera and Wi-Fi communication module on the snow mower. Achieve the use of mobile phone snow sweeping machine remote control. The mobile phone control system of small snow sweeping machine includes Android smart phone client program, snow sweeper controller, Wi-Fi communication module, camera, walking wheel drive motor, snow throwing direction control motor, snow collector motor and storage battery. The mobile phone client program receives and displays the video data transmitted by the Wi-Fi communication module, sends control commands to the snow sweeper controller through the Wi-Fi network, and realizes the function of snow sweeping instruction sending and snow clearing scene video transmission. The snow sweeper controller receives the command of the mobile phone through the Wi-Fi communication module, controls the snow collector motor, the snow throwing direction control motor and the walking motor executes the corresponding command, realizes the remote control snow sweeping machine; At the same time, the controller uses IGBT to control the maximum current of the snow collector motor, and synchronously controls the walking speed of the snow collector in stages to reduce the amount of snow removal per unit time, thus reducing the load of the snow collector motor. To solve the problem that the snowcollector motor is overloaded or even blocked and burned, the snow-sweeper controller modifies the walking path by using the micro gyroscope to improve the straight-line driving performance of the snow sweeper. It solves the problem that snow sweeper is easy to run off in the snow, and improves the maneuverability. The experimental results show that the mobile phone client software studied in this paper can effectively control snow sweeper through Wi-Fi wireless network and the video display is smooth. At the same time, the controller can limit the current of the snow collector motor while executing the control command of the mobile phone stably, and reduce the motor terminal voltage after the current of the snow collector motor exceeds 30A, thus limiting the motor current. The speed of the motor is controlled by stages after overload, the speed of the output shaft of the motor is reduced from 160r/min to 47r / min in 110s, and the walking motor is shut down at 120s, the speed of the motor is controlled at 32A, the speed of the output shaft of the motor is reduced from 160r/min to 47r / min, and the speed of output shaft of the motor is reduced to 47r / min in 110s. The controller automatically corrects the forward direction of the snow sweeper, and the maximum offset distance of the track is 0.5 m in the 10m test.
【学位授予单位】：西南大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH69;TP273

【参考文献】