1 2 3 4 5 6 7 8

VCC
COS1 COD7 COD8
PIS103 3 S1 D7 VBAT COL1 D8 COR1 VCC VCC
L1
PIBT10
PIS101 1
2
PIS102PID701 PID702
PIC101 PIC201 PIL101
Inductor
PIL102PID801 PID802

PIR402 PIC301 PIR102

R1
1K
PIR101
PIPWR01
PIR501 PIR602 PIR701 PIR802 COR2
R2
VCC COR3
R3
COBT1
BT1
SW-SPDT 1N5824 COC1
C1 COC2
C2 4.7uH 1N5824 COC3
C3 PIR201 PIR202 PIR301 PIR302

Battery PIC102 106 PIC202 106 COU1

U1 COR4
R4 PIC302 106 COPWR
PWR COR5
R5 COR6
R6 COR7
R7 COR8
R8 PID101 1K 1K
PIBT102 PIU106

5
6
NC SW
2
1
PIU101 75K
PIPWR02
100R 5K1 100R 5K1
COD1
D1
PID201 VCC
COU2
PIU105 IN
4
GND PIU102
3
GND
PIR401 COR9
R9 PIR502 COU3
U3 PIR601
OO1 PIR702 COU4
U4 PIR801
OO2 PID1NLLine1
02 1
U2 VCC COD2
D2
PIR10 1

1
PIU104 EN FB PIU103 PIR902 PIR901 PIU301 PIU304 PIU401 PIU404 Line1
PIU201 8
OUT1 VCC PIU208
A GND 10K 2
PIU202 7 NLLine2
Line2 PID202 COR10
R10 A
SX1308 IN1- OUT2 PIU207
PIU302 PIU303 PIU402 PIU403 NLOO1
OO13 6 2 Potentiometers
GND GND PIU203 IN1+ IN2- PIU206 PIR1002
10K
Sensor1 Sensor2 4
PIU204 5 NLOO2
OO2
GND IN2+ PIU205
LM358
GND
PIR10 3

3
GND GND

GND

VCC VCC
VCC COR11
PIR140 PIR1502 PIR160 PIR1702 PIR1201
COR12
R12
PIR1202 PIR1301
COR13
R13
PIR1302 VCC PIR1101
R11

10K
PIR1102
PIQ103
COR14
R14 COR15
R15 COR16
R16 COR17
R17 PID301 1K 1K COQ1
Q1
R18 COR18 COU5
U5
100R 5K1 100R 5K1 PID401 VCC
Motor2_Dir
PIR1802 PIR1801PIQ101 8050
21
PIU5021 1
PIU501
COD3
D3 AIN1 AO1
1K NLMotor20Dir
Motor2_Dir 22 2 PIC601 COP2
P2
VCC
GND
PIR1402 COU7
U7 PIR150
OO3 PIR1602 COU8
U8 PIR170
OO4 PID3NLLine3
02 1
COU6
U6 VCC COD4
D4
PIR190 PIQ102
PIU5022 AIN2
NLMotor20PWM23
Motor2_PWMPIU5023 PWMA
AO1 PIU502
COF2
F2
COC6
C6 PIP201 1

1
PIU701 PIU704 PIU801 PIU804 Line3 8 GND 5 PIC602 104
PIU601 OUT1 VCC PIU608 AO2 PIU505
PIF201 PIF202 PIP202 2
2 7 NLLine4
Line4 PID402 COR19
R19 6
PIC502
PIR210 COR21
PIR2 02 COR22
COUSB1
USB1 VCC COC5
C5
PIU702
Sensor1
PIU703 PIU802
Sensor2
PIU803
PIU602
NLOO3
OO33
PIU603
4
IN1-
IN1+
OUT2 PIU607
6
IN2- PIU606
5 NLOO4
OO4
2
PIR1902 Potentiometers
10K
COR20
R20 Motor1_Dir
17
NLMotor10DirPIU5017
16
PIU5016
BIN1
BIN2
AO2 PIU506 Fuse 200mA
COF1
F1
Motor2
R21 R22 1 GND 106 PIU604 GND IN2+ PIU605 VCC PIR2001 PIR2002
PIQ203 NLMotor10PWM
Motor1_PWM 15 7
VCC PIUSB101 22R COR23
R23 PIU5015 PWMB BO2 PIU507
PIF101 PIF102
1K 1K
D-
2
PIUSB102 PIR2302 PIR2301 USB- COU9
U9
+
10K COQ2
Q2 19 BO2
8
PIU508
Fuse 200mA
PIC401 COP1
P1
3 1 16PIC501 LM358 COR24
R24 PIU5019 STBY COC4
C4
PPIIRT2X1001 PPIRX01IR2 01 D+ PIUSB103
4
22R COR25
R25
USB+
PIU901
RXDPIU902
2
GND VCC PIU9016
15
VCC GND PIR1903 Motor1_Dir 8050
11 PIC402 104
PIP101 1

3
PIR2402 PIR2401
PIQ201
PIUSB104 PIR2502 PIR2501
NC COC7 TXD R232 PIU9015 COC8 1K 20
PIU5020 BO1 PIU5011 PIP102
2
5 C7 TXDPIU903
3 14 C8 GND GND VCC VCC 12
GND PIUSB105 RXD RTS# PIU9014 BO1 PIU5012
PIC702 PIC701 4
PIU904 13PIC802 PIC801Reset PIQ202 18 Motor1
GND NLUSB0 V3 DTR# PIU9013 PIU5018 GND
USB PIUSB106 USB+ 5
PIU905 12 3
COTX CORX NLUSB0 UD+ DCD# PIU9012 GND PIU503
PGND1
TX RX GND 103 USB-PIU906
6 11 104 4 24
PIUSB107 UD- RI# PIU9011 PIU504 PGND1 VM1 PIU5024 VBAT
PIUSB108 7
PIU907 10 9 13
XI DSR# PIU9010 PIU509
PGND2 VM2 PIU5013
PITX02TXD PIRX02RXD PIUSB109
8
PIU908
9
XO CTS# PIU909 GND
10
PIU5010 PGND2 VM3
14
PIU5014

CH340C TB6612FNG
COC9
C9
PIC902 PIC901
COC10
C10

+
B 106 PIC1002 PIC1001
B

+
VCC
100uF
COP3
P3 VCC PIC1 01 COC11
PIC1201 COC12
MISO
PIP301 PIP302 C11 C12
1 2
SCK
PIP303 3 4 PIP304
MOSI PIC1 02 104 PIC1202 106
Reset
PIP305 5 6 PIP306
GND
ICSP GND
GND COU10
U10
PIK101
NL3~
3~ Line3 1 32 NLBuzzer
Buzzer 2NL2 COK1
K1
PIU1001 PD3/INT1 INT0/PD2 PIU10032
4 Line4 2
NL4 31 NLTXD
TXD LED Reset
COR26
R26 PIU1002 PD4/XCK/T0 TXD/PD1 PIU10031
GND 3 30 NLRXD
RXD NLRGB0DIN
RGB_DIN
VCC
PIR2602 PIR2601
PISTA01 PISTA02 GND PIU1003 GND RXD/PD0 PIU10030
29 NLReset PIK102 COR27
R27 COU11
U12 ME6202-3.3
COU12 V3.3 1K 4
PIU1004 VCC RESET/PC6 PIU10029Reset PIR2702 PIR2701 VCC
U11
3 2 COSTA
STA 5 28 NLADC5
ADC5 BZ2 10K GD121 28 GD11
PIU1203
PIC1302 Vin Vout PIU1202
PIC1402 PIU1005 GND SCL/ADC5/PC5 PIU10028 PIU1101 GRID12 GRID11 PIU11028
PIU13018 PIU1309 PIU1302 PIU13021 PIU1302 PIU1302 PIU13024 PIU13025 PIU13026 PIU13027 PIU13028 PIU13029 PIU130 PIU1301 PIU1302 PIU130 PIU1304
GND

GND 6
PIU1006 27 NLADC4
PIU10027ADC4 BZ1 GD132
PIU1102 27 GD10 COP4
P4 COP5
P5
COC13 COC14 VCC VCC SDA/ADC4/PC4 GRID13 GRID10 PIU11027
C13 C14 7 26 NLADC3
ADC3 Echo GD143 26 GD9 SG1 9 NLGD1
13 GD1 NLSG1
SG1 9 NLGD9
13 GD9
PIC1301 PIC1401 PIY101 PIU1007 PB6/XTAL1/TOSC1ADC3/PC3 PIU10026 PIU1103 GRID14 GRID9 PIU11026 PIP409 R1 C1 PIP4013 PIP509 R1 C1 PIP5013
105
PIU120
105 COU13
U13
PIR280 8
PB7/XTAL2/TOSC2ADC2/PC2
25 NLADC2
ADC2 Trig GND PIU1104
GD154
GRID15
25 GD8
GRID8 PIU11025
SG214
R2
3 NLGD2
GD2
C2 PIP403NLGD3
NLSG2
SG2 14
PIP5014 R2
3 NLGD10
GD10
C2 PIP503NLGD11
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34

PIU1008 PIU10025 PIP4014

HC-08 COY1
Y1 GD165 24 GD7 SG3 8 4 GD3 NLSG3
SG3 8 4 GD11
1

GND PIY103
COR28 NL55 Motor2_PWM
PIU1105 GRID16 GRID7 PIU11024 PIP408 R3 C3 PIP404NLGD4 PIP508 R3 C3 PIP504NLGD12
16M R28 9 24 NLADC1
ADC1 TM1640_DIN 6 23 GD6 SG412 10 GD4 NLSG4
SG4 12 10 GD12
10
11
12
13
14
15
16
17

PIU1009 PD5/T1 ADC1/PC1 PIU10024NLADC0 PIU1106 VSS GRID6 PIU11023 PIP4012 R4 C4 PIP4010NLGD5 PIP5012 R4 C4 PIP5010NLGD13
1
2
3
4
5
6
7
8
9

PIY102 1M NL6
6 Motor1_PWM 10
PIU10010 PD6/AIN0
23 ADC0 TM1640_CLK
ADC0/PC0 PIU10023NLADC7
TM1640_DIN 7
PIU1107 DIN
22 GD5
GRID5 PIU11022
SG5 1
PIP401 R5
6 GD5
C5 PIP406NLGD6
NLSG5 1
SG5
PIP501 R5
6 GD13
C5 PIP506NLGD14
NL77 Motor2_Dir NLTM16400CLK NLSG6
GND HC08_TX
PIR2902
R29
COR29
PIR2901
PIU1301 PIU1302 PIU130 PIU1304 PIU1305 PIU1306 PIU1307 PIU1308 PIU1309 PIU130 PIU130 1 PIU130 2 PIU130 PIU130 4 PIU130 5 PIU130 6 PIU130 7 PIR2801 NL88 Motor1_Dir
11
PIU10011 PD7/AIN1
12
PIU10012 PB0/ICP1
ADC7
GND
22 ADC7
PIU10022
21
PIU10021 GND
TM1640_CLK PIU1108
PIR30 2 PIR3102 SG1 9
8
PIU1109
SCLK
SEG1
21 GD4
GRID4 PIU11021
20 GD3
GRID3 PIU11020
SG6
SG7
7
PIP407 R6
2
PIP402 R7
11 GD6
C6 PIP4011
NLGD7
15 GD7
C7 PIP4015NLGD8
SG6
NLSG7
SG7
7
PIP507 R6
2
PIP502 R7
11
C6 PIP5011
GD14
NLGD15
15 GD15
C7 PIP5015NLGD16
1K 9~ HC08_TX
NL9~ NLHC080TX 13 20 SG210 19 GD2 SG8 5 16 GD8 SG8
NLSG8 5 16 GD16
NL10~
PIU10013
NLHC080RX PB1/OC1A AREF PIU10020 PIC1501 PIC1502
COR30 COR31
PIU11010 SEG2 GRID2 PIU11019 PIP405 R8 C8 PIP4016 PIP505 R8 C8 PIP5016
R32
COR32 V3.3 10~ HC08_RX 14 19 NLADC6
ADC6 VCC R30 R31 SG311 18 GD1
HC08_RX PIU10014 PB2/OC1B/SS ADC6 PIU10019 PIU11011 SEG3 GRID1 PIU11018
PIR3202 PIR3201 NL11~ NLMOSI
11~ Line1 MOSI 15
PIU10015 18 COC15
106 C15 10k 10k SG412 17 横排共阳点阵 横排共阳点阵
NL12 NLMISO PB3/MOSI/OC2 AVCC PIU10018 PIU11012 SEG4 VDD PIU11017 VCC
1K GND 12 Line2 MISO 16 17 NL13 NLSCK IR_R
13 SCK NLIR0R SG513 16 SG8 PIC1601
PIU10016 PB4/MISO SCK/PB5 PIU10017 PIU11013 SEG5 SEG8 PIU11016
PIR30 1 PIR310 SG614
PIU11014 SEG6
15 SG7
SEG7 PIU11015
PIC1602
C16
COC16
104
ATMEGA8-32 TM1640
VCC
GND

C C

VCC VCC VCC

R33
COR33 R34
COR34
PIR3301 PIR3302 PIR3401 PIR3402

GND GND GND GND

PIR3501COR35
R35
PIR3602COR36
R36
PIR3701 COR37
R37
PIR3802 COR38
R38
PID501 1K 1K
PID601 VCC
COC17 COC18 COC19 COC20 100R 5K1 100R 5K1 D5
COD5
VCC C17 VCC C18 VCC C19 VCC C20 U14
COU14 VCC COD6
D6
PIC1702 PIC1701 PIC1802 PIC1801 PIC1902 PIC1901 PIC2002 PIC2001 PIDBZ1
5NLBZ1
02 1 PIR3901

1
8
104 104 104 104 PIR3502
PIU1501
U15
COU15 PIROO5
PIU1504
3601 PIR3702
PIU1601
U16
COU16 PIROO6
PIU1604
3801 PIU1401 OUT1
2
PIU1402 IN1-
VCC
OUT2
PIU1408
7 NLBZ2
BZ2
PIU1407 PID602 R39
COR39
1 3 1 3 1 3 1 3 OO5
NLOO53 6 2 Potentiometers
PILED101 VDD GND PILED103 PILED201 VDD GND PILED203 PILED301 VDD GND PILED303 PILED401 VDD GND PILED403 PIU1403 IN1+ IN2- PIU1406 PIR3902
10K
RGB_DIN 4 2 4 2 4 2 4 2 PIU1502 PIU1503 PIU1602 PIU1603 4
PIU1404 GND IN2+
5 NLOO6
OO6
PIU1405
PILED104 DIN DOUT PILED102 PILED204 DIN DOUT PILED202 PILED304 DIN DOUT PILED302 PILED404 DIN DOUT PILED402
Sensor1 Sensor2
COLED1
LED1 COLED2
LED2 COLED3
LED3 COLED4
LED4 LM358
GND
PIR390

3
GND GND
GND

VCC

PIQ602
COQ6
Q6
NLLEDR42
LED COR42
PIR4202 PIR4201
PIQ601
8550
1K
U17 BUZZER
COU17 PIQ603
VCC P6
COP6
PIR40 2
VCC COP7
P7 COR40
R40
COQ3
VCC
PIU1701 PIU1702
PIR4401
COR44
R44
PIR4402
PIQ303
Q3
PIQ302 GND VCC PIR4102
COR41
R41
PIR4101
IR_R PIP701
BZ2
1
PIP601
BZ2
1
PIP602 2
VCC P8
COP8 VCC
100R

10R 30K
PIP702 2 BZ1
BZ1 3 1 5
1
PIP703
LED
PIP704
3
4
PIP603
LED
PIP604 4
Echo
PIP801
Trig
PIP802 2
Echo
6
PIP805

PIP806
NLEcho
Trig
NLTrig
Echo
PIR40 1
PIQ301 OUT PIQ501 Echo
PIP705 5
PIP605 5
Trig
PIP803 3 7 PIP807
PID1 01 PID1201
2 Trig PIP606 6 PIP804 4 8 PIP808

D
8050
PIR4301 R43
COR43
GND
VCC
PIQ502

PIQ503
3
VCC
GND
TM1640_DIN
TM1640_CLK
PIP706
PIP707

PIP708
6
7
8
TM1640_DIN
NLTM16400DIN
TM1640_CLK
PIP607 7

PIP608 8
GND
超声波
GND
COD11
D11 COD12
D12
D

1K Q5
COQ5 PIP709 9 PIP609 9 PID1 02 PID1202
Header 9
Header 9
PIR4302
Buzzer
GND
GND
GND

Title

Size Number Revision

A2
Date: 2017/10/9 Sheet of
File: E:\Scratch\ 小车2\原理图&PCB\V1.3\Qbot.SchDoc
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