CN216647174U

CN216647174U - Control system for submersible robot

Info

Publication number: CN216647174U
Application number: CN202122508646.9U
Authority: CN
Inventors: 韩峻; 王亮; 李吉; 易炳松
Original assignee: Wuhan Haikun Equipment Technology Co ltd
Current assignee: Wuhan Havy Tech Special Equipment Co ltd
Priority date: 2021-10-18
Filing date: 2021-10-18
Publication date: 2022-05-31
Anticipated expiration: 2031-10-18

Abstract

The utility model relates to a control system for a submersible robot, comprising: comprises a controller and peripheral equipment; the controller is electrically connected with the peripheral equipment; the controller adopts bottom layer motion control panel, and the control panel includes: the device comprises a program debugging circuit, a CPU main control circuit, an onboard power supply circuit, an RS232 serial port debugging circuit, a network communication circuit, a CAN communication circuit, a stepping motor control circuit, an ADC (analog to digital converter) sampling circuit, a TTL (transistor-transistor logic) serial port circuit and an RS485 serial port circuit; the peripheral device includes: the system comprises a motion control system consisting of 4 hub motors and 4 stepping motors, 2 16-wire laser radars, 1 8-wire gyroscope, 16 laser range finders, 4 ultrasonic range finders, 1 depth vision camera, 4 photoelectric switches, 4 lifting motors bearing 100kg, 2 locking motors and 4 bearing sensors, wherein the motion control system comprises a plurality of hub motors and 4 stepping motors; the utility model has the beneficial effects that: a submersible robot with low cost and high motion control precision is developed.

Description

Control system for submersible robot

Technical Field

The present invention relates to the field of robot control, and in particular to a control system for a submersible robot.

Background

The hub motor is an important component of the embedded robot, the speed control of the hub motor and the angle control of the stepping motor can accurately move the embedded robot to the lower part of the goods shelf and a charging area, and the mode of completely controlling the speed and the direction can realize various motion modes and avoid the problem that narrow channels and intersections are not easy to turn.

Most of the current market is a control mode mainly comprising differential wheels and universal wheels, and the motion mode of the scheme is single and has great limitation. There are also solutions for flexible control using mecanum wheels, but they are expensive, difficult to machine (all nine are metallic), heavy, slow, not long-lived (relative to conventional rubber wheels), and they are not commonly used due to the disadvantages of each motor driving each wheel individually.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model designs a submersible robot control system with higher control precision.

The control system for the submersible robot adopts a four-wheel eight-drive scheme, four steering wheel drives and four stepping motors are used for driving, so that the movement and the steering in any direction are realized, the bearing capacity is divided into four wheels, and the total weight is removed, so that the cargo below 400KG can be borne;

a control system for a submersible robot, comprising: a controller and a peripheral device; the controller is electrically connected with the peripheral equipment;

the controller adopts bottom layer motion control panel, and the control panel includes: the device comprises a program debugging circuit, a CPU main control circuit, an onboard power supply circuit, an RS232 serial port debugging circuit, a network communication circuit, a CAN communication circuit, a stepping motor control circuit, an ADC (analog to digital converter) sampling circuit, a TTL (transistor-transistor logic) serial port circuit and an RS485 serial port circuit;

the peripheral device includes: the motion control system that 4 wheel hub motors and 4 step motor are constituteed, 2 16 line laser radar, 1 8 line gyroscopes, 16 laser range finder, 4 ultrasonic ranging machine, 1 degree of depth vision camera, 4 photoelectric switch, 4 lifting motor, 2 hasp motors and 4 bearing sensor of 100kg bearing.

Further, the hub motor is communicated with the CPU main control circuit through the CAN communication circuit.

Further, the stepping motor is communicated with the CPU main control circuit through the stepping motor control circuit.

Further, the load-bearing sensor is communicated with the CPU main control circuit through the ADC sampling circuit.

Furthermore, the laser range finder is electrically connected with the CPU main control circuit through the TTL serial port circuit.

Further, the ultrasonic distance measuring machine is electrically connected with the CPU main control circuit through the RS485 serial port circuit.

The stepping motor is also connected with a 12-bit photoelectric encoder for feeding back the control angle in real time.

The beneficial effects provided by the utility model are as follows: a submersible robot with low cost and high motion control precision is developed.

Drawings

FIG. 1 is a block diagram of a control system architecture for a submersible robot according to the present invention;

FIG. 2 is a circuit schematic of program debug circuitry;

FIG. 3 is a circuit schematic of an on-board power supply circuit;

FIG. 4 is a schematic diagram of an RS232 serial port debugging circuit;

FIG. 5 is a schematic diagram of a network communication circuit;

FIG. 6 is a schematic diagram of a CAN communication circuit;

FIG. 7 is a schematic diagram of an ADC sampling circuit;

FIG. 8 is a schematic diagram of a TTL serial circuit;

FIG. 9 is a schematic diagram of an RS485 serial port circuit;

fig. 10 is a schematic diagram of a stepper motor control circuit.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.

Referring to fig. 1, fig. 1 is a structural diagram of a control system for a submersible robot according to the present invention.

The utility model adopts a scheme of four wheels and eight drives, four steering wheels are driven and four stepping motors are driven, so that the movement and the steering in any direction are realized, the bearing capacity is divided into four wheels, and the total weight is removed, so that the goods below 400KG can be borne.

The control system of the submersible robot comprises a motion control system consisting of four hub motors and four stepping motors, and further comprises 12-bit photoelectric encoders which are connected with each stepping motor and feed back control angles in real time.

The control system also installs two 16-line lidar and one 8-line gyroscope for positioning and pose detection.

The control system is also provided with 16 laser range finders and four ultrasonic range finders for close-range obstacle avoidance.

In order to meet the requirement of accurate navigation to the bottom of the shelf, the control system is provided with a depth vision camera for line patrol and 4 photoelectric switches for auxiliary positioning.

The control system is provided with 4 100kg load-bearing lifting motors, 2 latch motors and 4 load-bearing sensors for cargo lifting and cargo fixing.

In order to meet the long-time high-load use requirement, the control system is provided with a 24V40AH lithium battery.

In order to implement the above control system, the underlying motion control board in this application is developed based on an STM32F407VGT6 chip, and includes: the device comprises a program debugging circuit, a CPU main control circuit, an onboard power supply circuit, an RS232 serial port debugging circuit, a network communication circuit, a CAN communication circuit, a stepping motor control circuit, an ADC sampling circuit, a TTL serial port circuit and an RS485 serial port circuit.

Referring to fig. 2, fig. 2 is a schematic circuit diagram of a program debug circuit according to an embodiment. The program debugging circuit is a circuit for program programming debugging.

Referring to fig. 3, fig. 3 is a schematic circuit diagram of an on-board power supply circuit according to an embodiment. The on-board power supply circuit provides 12V, 5V and 3.3V power supply voltage for the mainboard.

Referring to fig. 4, fig. 4 is a schematic diagram of an RS232 serial port debugging circuit according to an embodiment. And the RS232 serial port debugging circuit is used for feeding data back to the upper computer in the debugging process.

Referring to fig. 5, fig. 5 is a schematic diagram of a network communication circuit according to an embodiment. The network communication circuit is used for communicating with an upper industrial personal computer.

Referring to fig. 6, fig. 6 is a schematic diagram of a CAN communication circuit according to an embodiment. And the CAN communication circuit is used for driving control of the hub motor, wheel speed data acquisition and data acquisition of the angle of the encoder.

Referring to fig. 7, fig. 7 is a schematic diagram of an ADC sampling circuit according to an embodiment. The ADC sampling circuit is used for collecting weight data fed back by the load-bearing sensor;

referring to fig. 8, fig. 8 is a schematic diagram of a TTL serial circuit according to an embodiment. And the TTL serial port circuit is used for acquiring distance data of the laser range finder.

Referring to fig. 9, fig. 9 is a schematic diagram of an RS485 serial port circuit according to an embodiment. And the RS485 serial port circuit is used for acquiring the information data of the ultrasonic distance measuring machine and the battery.

Referring to fig. 10, fig. 10 is a schematic diagram of a stepping motor control circuit according to an embodiment. And the stepping motor control circuit is used for controlling the motion of the stepping motor driver and controlling the motion angles of the four steering engines in real time.

It should be noted that, a circuit diagram portion not given in this application, such as a CPU main control circuit portion, uses STM32F407VGT6, and according to other portions, corresponding chip interfaces are correspondingly connected. As other embodiments, other chips meeting the requirements can be adopted to carry out corresponding replacement wiring.

The utility model has the beneficial effects that: a submersible robot with low cost and high motion control precision is developed.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A control system for a submersible robot, characterized by: comprises a controller and peripheral equipment; the controller is electrically connected with the peripheral equipment;

2. A control system for a submersible robot as recited in claim 1, wherein: the hub motor is communicated with the CPU main control circuit through the CAN communication circuit.

3. A control system for a submersible robot as recited in claim 1, wherein: the stepping motor is communicated with the CPU main control circuit through the stepping motor control circuit.

4. A control system for a submersible robot as recited in claim 1, wherein: the load-bearing sensor is communicated with the CPU main control circuit through the ADC sampling circuit.

5. A control system for a submersible robot as recited in claim 1, wherein: and the laser range finder is electrically connected with the CPU main control circuit through the TTL serial port circuit.

6. A control system for a submersible robot as recited in claim 1, wherein: the ultrasonic distance measuring machine is electrically connected with the CPU main control circuit through the RS485 serial port circuit.

7. A control system for a submersible robot as recited in claim 1, wherein: the stepping motor is also connected with a 12-bit photoelectric encoder for feeding back the control angle in real time.