本文選題：小型掃雪機(jī) + 手機(jī)控制　； 參考：《西南大學(xué)》2017年碩士論文

【摘要】：在較高緯度地區(qū)例如我國北方和歐美部分區(qū)域,冬季降雪期長且降雪量大,庭院積雪給居民的生活帶來諸多不便。目前多采用人工或者小型掃雪機(jī)清除庭院等小范圍的積雪,使用小型掃雪機(jī)進(jìn)行除雪相比人工掃雪具有更高效、更節(jié)約人力成本等優(yōu)勢,因而在國內(nèi)外逐步推廣�，F(xiàn)有的小型掃雪機(jī)多為手扶式,操作人員需要在雪地里進(jìn)行除雪作業(yè),工作環(huán)境惡劣。目前,智能手機(jī)已被廣泛使用且在智能家居和移動(dòng)機(jī)器人控制等領(lǐng)域已有大量研究,但現(xiàn)階段對(duì)手機(jī)遠(yuǎn)程控制小型掃雪機(jī)的研究報(bào)道較少,因此可參考其他領(lǐng)域的智能手機(jī)控制技術(shù)研究小型掃雪機(jī)手機(jī)控制系統(tǒng)。結(jié)合智能手機(jī)控制技術(shù)提升小型掃雪機(jī)的自動(dòng)化水平,使操作人員可在舒適的環(huán)境下例如待在溫暖的室內(nèi)用智能手機(jī)控制掃雪機(jī)作業(yè),對(duì)于提高人們的生活質(zhì)量具有積極的意義。本論文設(shè)計(jì)了基于Android平臺(tái)的掃雪機(jī)智能手機(jī)客戶端程序;選用PIC18F46K22單片機(jī)作為主控芯片設(shè)計(jì)了掃雪機(jī)控制器;在掃雪機(jī)上安裝攝像頭和Wi-Fi通信模塊,實(shí)現(xiàn)使用手機(jī)對(duì)掃雪機(jī)進(jìn)行遠(yuǎn)程控制。設(shè)計(jì)研究的小型掃雪機(jī)手機(jī)控制系統(tǒng)包括Android智能手機(jī)客戶端程序、掃雪機(jī)控制器、Wi-Fi通信模塊、攝像頭、行走輪驅(qū)動(dòng)電機(jī)、拋雪方向控制電機(jī)、集雪器電機(jī)及蓄電池。手機(jī)客戶端程序接收并顯示W(wǎng)i-Fi通信模塊傳輸?shù)臄z像頭視頻數(shù)據(jù),通過Wi-Fi網(wǎng)絡(luò)發(fā)送控制命令至掃雪機(jī)控制器,實(shí)現(xiàn)掃雪指令發(fā)送和除雪現(xiàn)場視頻傳輸?shù)墓δ?掃雪機(jī)控制器通過Wi-Fi通信模塊接收手機(jī)的操縱指令,控制集雪器電機(jī)、拋雪方向控制電機(jī)和行走電機(jī)執(zhí)行相應(yīng)命令,實(shí)現(xiàn)遠(yuǎn)程控制掃雪機(jī);同時(shí)掃雪機(jī)控制器利用IGBT控制集雪器電機(jī)的最大電流,并同步分階段控制掃雪機(jī)的行走速度,減少單位時(shí)間的除雪量,從而降低集雪器電機(jī)的負(fù)載,解決集雪器電機(jī)過載甚至堵轉(zhuǎn)燒毀的問題;掃雪機(jī)控制器利用微型陀螺儀對(duì)行走路徑進(jìn)行修正,提高掃雪機(jī)直線行駛性能,解決掃雪機(jī)在雪地行駛過程中容易發(fā)生行駛跑偏的問題,提升了操縱方便性。試驗(yàn)結(jié)果表明,論文所研究的手機(jī)客戶端軟件可以通過Wi-Fi無線網(wǎng)絡(luò)有效控制掃雪機(jī)進(jìn)行除雪作業(yè),視頻顯示流暢;掃雪機(jī)控制器在穩(wěn)定執(zhí)行手機(jī)端控制命令的同時(shí)能夠?qū)┢麟姍C(jī)進(jìn)行限流控制,在集雪器電機(jī)電流超過30A后降低電機(jī)端電壓從而限制了電機(jī)電流,并將集雪器電機(jī)堵轉(zhuǎn)電流控制在32A;控制器在集雪器電機(jī)過載后對(duì)行走速度進(jìn)行了同步分階段控制,在110s內(nèi)行走電機(jī)輸出軸轉(zhuǎn)速從160r/min降低到47r/min,并在120s關(guān)閉了行走電機(jī);控制器自動(dòng)對(duì)掃雪機(jī)前進(jìn)方向進(jìn)行糾偏,在10m測試中行駛軌跡最大偏移距離為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.
【學(xué)位授予單位】：西南大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH69;TP273

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