A kind of everybody machine interactive system of tea place harvesting machine and its control methodTechnical field
The present invention relates to robotic technology field, everybody machine interactive system of specially a kind of tea place harvesting machine and its controlMethod.
Background technique
Human-computer interaction is the medium and dialog interface that information is transmitted, exchanged between people and computer, is computer systemThe human-computer interaction facility of important component, early stage is keyboard display.Operator squeezes into order by keyboard, and operating system connectsIt is immediately performed after to order and shows result by display.With the development of computer technology, operational order is also increasinglyMore, function is also increasingly stronger, and human-computer exchange system is widely used, it is well known that more general in automotive field applicationTime, also achieve that the majority of consumers approve and related work efficiency greatly promotes；In China's tea picking, be all substantially byIt is manually picked, efficiency is slow and needs a large amount of labours, and labour cost is higher, and general machine operation is easy to appear eventBarrier needs the artificial moment to nurse, and harvesting tealeaves is more troublesome.
So how to design a kind of everybody machine interactive system of tea place harvesting machine and its control method, it is current to become usIt solves the problems, such as.
Summary of the invention
The purpose of the present invention is to provide a kind of tea place everybody machine interactive system of harvesting machine and its control methods, to solveThe problems mentioned above in the background art.
To achieve the above object, the invention provides the following technical scheme: a kind of everybody machine interactive system of tea place harvesting machine,Including MCU control module, mobile driving unit, information acquisition unit, alarm unit, touching display screen, power supply module and nothingLine network module, the MCU control module are shown with mobile driving unit, information acquisition unit, alarm unit, touch respectivelyScreen, wireless network module connection, the mobile driving unit include servo motor and driving gearbox, and the gearbox is not byGear with size is intermeshed, and for adjusting robot in the movement speed of track, the information acquisition unit includes installationWeight sensor on tealeaves collection work platform detects the velocity sensor of robot movement speed, the alarm unit packetVoice broadcast module, indicator light and the ultrasonic wave generating unit for driving snakeworm are included, the touching display screen includes displayScreen, the touch screen connecting with the display screen provide the OLED backlight module of backlight to the display screen, and the wireless network module is usedIn the communication connection of robot and terminal, the power supply module provides required electric power support to the system.
Preferably, the indicator light includes red light, amber light and green light, for showing robot current working status.
Preferably, the touch screen includes that the touch-control circuit being electrically connected in touch screen with MCU control module is arranged in, installationIn touch screen periphery and the laser radar detection device that is connected with the MCU control module.
Preferably, the MCU control module is connect with touch screen, is received the signal that the touch screen issues and is issued and be somebody's turn to doThe corresponding first control signal of signal and second control signal, and the voice broadcast module receives first control signal, andVoice messaging is played, the display screen receives second control signal and shows.
A kind of control method of tea place harvesting everybody machine interactive system of machine, including touching step:
A starts touching display screen, point touching touch screen by power supply module, and touch-control circuit detects the letter of point touching positionBreath, meanwhile, laser radar detection device detects the coordinates regional of point touching position；
B, location information described in step a are fed back to MCU control module, through the computing unit inside MCU control moduleIt is calculated；
C after the computing unit calculation processing described in the step b, obtains a touching location point touching content information, realizes point touching behaviourMake.
A kind of control method of tea place harvesting everybody machine interactive system of machine, further includes rate-determining steps:
1), preset value is set, the weight value g0 which harvests tealeaves is arranged by touch screen, robot harvests tealeavesMovement speed v0 on Shi Zhi type track, the movement speed v1 on curved track；
2) after, setting preset value described in step 1), start to carry out tealeaves harvesting work, be moved up when in straight type trackWhen dynamic, robot is moved with v0 speed, is moved when having served as curved track with v1 speed, when on tealeaves collection work platformWhen the tealeaves weight harvested reaches g0, signal is fed back to MCU control module by weight sensor, to control the robotStop tealeaves harvesting.
Compared with prior art, the beneficial effects of the present invention are: installing weight sensor on tealeaves collection work platform, thenDefault tealeaves harvesting value is arranged by touch screen to be harvested, prevents harvesting tea amount from overflowing workbench more and causes to waste, pass throughTouch-control circuit and the dual point touching positioning of laser radar detection device, to keep the information for carrying out touch screen point touching position more accurate,The man-machine interactive system is at low cost and occupies little space.
Detailed description of the invention
Fig. 1 is whole control block diagram schematic diagram of the invention；
Fig. 2 is touch-control circuit diagram of the invention；
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 clear, completeSite preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based onEmbodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every otherEmbodiment shall fall within the protection scope of the present invention.
As shown in Figs. 1-2, everybody machine interactive system of a kind of tea place harvesting machine, including MCU control module, mobile driving are singleMember, information acquisition unit, alarm unit, touching display screen, power supply module and wireless network module, the MCU control moduleIt is connect respectively with mobile driving unit, information acquisition unit, alarm unit, touch display screen, wireless network module, the movementDriving unit includes servo motor and driving gearbox, and the gearbox is intermeshed by different size of gear, for adjustingRobot is saved in the movement speed of track, the information acquisition unit includes the weight sensing being mounted on tealeaves collection work platformDevice detects the velocity sensor of robot movement speed, and in real time by the movement speed feedback of robot to MCU control moduleInterior, the alarm unit includes voice broadcast module, indicator light and the ultrasonic wave generating unit for driving snakeworm, the touchingControlling display screen includes display screen, the touch screen connecting with the display screen, provides the OLED backlight module of backlight to the display screen,Computing unit inside MCU control module obtains the corresponding backlight region location information of OLED backlight module according to the two information(X0, Y0) and size S0, content is accordingly shown, the wireless network module is used for the communication connection of robot and terminal,It is convenient to be controlled by mobile phone, computer, plate, it can also be controlled by remote-control handle, the power supply module is givenThe system provides required electric power support.
In the present invention, the indicator light includes red light, amber light and green light, for showing robot current working status,Preferably, the bright expression harvesting robot of red light is in malfunction, the bright expression harvesting robot of amber light is in standbyState, green light, which lights, indicates that the harvesting robot is in normal operating conditions.
In the present invention, the touch screen includes that the touch-control circuit being electrically connected in touch screen with MCU control module is arranged in,The laser radar detection device for being mounted on touch screen periphery and being connected with the MCU control module, preferably, the laserRadar detection apparatus is at least arranged two, is correspondingly arranged, and the touch-control circuit detects a location information for touching, and describedLaser radar detection device carries out covering detection to a coordinates regional for touching position, and the point of touch screen is improved by this double checkTouch position precision.
In the present invention, the MCU control module is connect with touch screen, receives the signal that the touch screen issues and sendingFirst control signal corresponding with the signal and second control signal, and the voice broadcast module receives the first control letterNumber, and voice messaging is played, the display screen receives second control signal and shows, voice reminder staff prevents from operatingFault causes damages.
The invention further relates to a kind of control methods of tea place harvesting everybody machine interactive system of machine, including touching step:
A starts touching display screen, point touching touch screen by power supply module, and touch-control circuit detects the letter of point touching positionBreath, meanwhile, laser radar detection device detects the coordinates regional of point touching position, improves the accuracy of point touching position；
B, location information described in step a are fed back to MCU control module, through the computing unit inside MCU control moduleIt is calculated；
C after the computing unit calculation processing described in the step b, obtains a touching location point touching content information, realizes point touching behaviourMake.
The invention also includes rate-determining steps:
1), preset value is set, the weight value g0 which harvests tealeaves is arranged by touch screen, robot harvests tealeavesMovement speed v0 on Shi Zhi type track, the movement speed v1 on curved track；
2) after, setting preset value described in step 1), start to carry out tealeaves harvesting work, be moved up when in straight type trackWhen dynamic, MCU controls mobile driving unit, so that robot is moved with v0 speed, when having served as curved track, MCU control is movedDynamic driving unit allows to the harvesting for preferably carrying out tealeaves so that robot is moved with v1 speed, when tealeaves collects workWhen the tealeaves weight for making to have harvested on platform reaches g0, signal is fed back to MCU control module by weight sensor, so that control shouldRobot stops tealeaves harvesting.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be withA variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understandingAnd modification, the scope of the present invention is defined by the appended.