CN201493851U - Electric control device of intelligent robot - Google Patents

Abstract

The utility model relates to an electric control device of an intelligent duct cleaning robot. The electric control device comprises an electric board, a control unit and an execution unit, wherein the control unit includes a wireless communication muddle, a wireless video module, a motion control card and a CCD camera; the execution unit includes a servo motor drive system, a step motor drive system, a DC motor and an IR sensor; the servo motor drive system consists of a DC servo motor driver, a photoelectric encoder and a DC servo motor; and the step motor drive system is lifted by a brush head motor. The electric control device is characterized in that the electric board is a printed board integrated with a sensing signal collection circuit, a power supply circuit, a DC motor control circuit and a motor drive system interface; the sensing signal collection circuit includes an inclined signal collection circuit; and the DC motor control circuit includes DC motor start, stop and reversing circuits. The electric control device of the intelligent duct cleaning robot has the advantages of modularized and miniaturized design, high generality and high interchangeability.

Description

The intelligent robot electrical control gear

Technical field

The utility model belongs to a kind of control device, particularly a kind of pipe-line purging intelligent robot electrical control gear.

Technical background

At present, the electrical system of pipeline cleaning robot generally is to adopt control card+keyset+electric plate mode.Its keyset is multiple functional, volume is big, price is high, and signaling interface is fixed, and can't integrate with other circuit, and needing separately, electric plate of design comes elements such as integrated power supply and sensor.

Summary of the invention

The purpose of this utility model provides a kind of pipe-line purging intelligent robot electrical control gear of electric plate of integrated sensing circuit, power circuit, direct current generator start-stop and commutating circuit.

To achieve these goals, the utility model comprises electric plate, control module and performance element, control module comprises wireless communication module, the wireless video module, motion control card and CCD camera, performance element comprises servo motor driving system, driving system of stepping motor, direct current generator and infrared sensor, servo motor driving system is made up of DC servo motor driver+type photoelectric encoder+DC servo motor, 1 cover respectively is installed about the intelligence sweeping robot, to constitute its differential drive system, driving system of stepping motor is used for carrying out the brush head motor lifting, be characterized in: electric plate is an integrated transducing signal Acquisition Circuit, power circuit, the printed board of DC motor control circuit and motor driven systems interface, simultaneously, electric plate is returned wireless communication module and wireless video module for power supply, power circuit is made up of two parts, a part is made up of the DC/DC power module, be used for powering to control card, another part is made up of TI power supply chip TPS5410D, is used for powering to the intelligent robot illuminator.

Above-mentioned transducing signal Acquisition Circuit comprises the tilt signals Acquisition Circuit, and the tilt signals Acquisition Circuit is made of left and right directions inclinometer N1, fore-and-aft direction inclinometer N2, solid-state relay D1, resistor R 1-R3, capacitor C1-C4, wherein:

The 8th pin of left and right directions inclinometer N1 meets power supply VCC, and links to each other with power cathode by capacitor C1, and the output of left and right directions inclinometer N1 is joined by the 7th pin of resistor R 1 with solid-state relay D1;

The 8th pin of fore-and-aft direction inclinometer N2 meets power supply VCC, and links to each other with power cathode by capacitor C2, and the output of fore-and-aft direction inclinometer N2 is joined by the 5th pin of resistor R 2 with solid-state relay D1;

The 1st, 3 pin of solid-state relay D1 link to each other with power supply VCC by resistor R 3, the 7th, 5 pin of solid-state relay D1 also link to each other with power cathode with capacitor C4 by capacitor C3 respectively, the 2nd, 4 pin of solid-state relay D1 are gathered control signal QXJ1 with tilting of control module output respectively and are gathered control signal QXJ2 and be connected with tilting forward and back, the 6th, 8 pin of the solid-state relay D1 output tilt signals that links to each other.

Above-mentioned DC motor control circuit comprises direct current generator start-stop and commutating circuit, and direct current generator start-stop and commutating circuit are made of start-stop relay K 1, throw over relay K2, wherein:

Two movable contacts 13,4 of start-stop relay K 1 link to each other, and join by the positive pole of resettable fuse and dc source, two normally-closed contacts 11,6 of start-stop relay K 1 are vacant, two normally opened contacts 9,8 of start-stop relay K 1 back in parallel is connected with first movable contact 4 of throw over relay K2, start-stop relay K 1 coil be connected with the direct current generator start-stop signal QTKG that control module is exported with positive source VCC respectively;

Second movable contact 13 of throw over relay K2 links to each other with the negative pole of dc source, first normally opened contact 9 of throw over relay K2 links to each other with second normally-closed contact 6, second normally opened contact 8 and first normally-closed contact 11 of throw over relay K2 join, and first normally opened contact 9 also is connected with the DC MOTOR CONTROL end by Connection Block X1 respectively with first normally-closed contact 11.

The utility model has the advantages that: adopt modularization, miniaturization design, versatility is good, and interchangeability is strong.And the connector signaling point is according to each function module design, and the integrated level height plugs conveniently.

Description of drawings

Fig. 1 is the utility model theory diagram.

Fig. 2 is the utility model tilt signals Acquisition Circuit schematic diagram.

Fig. 3 is start-stop of the utility model direct current generator and commutating circuit schematic diagram.

The specific embodiment

Below in conjunction with accompanying drawing the utility model is described in further detail.

The utility model comprises electric plate, control module and performance element, electric plate is the printed board (Fig. 1) of integrated transducing signal Acquisition Circuit, power circuit, DC motor control circuit and a motor driven systems interface, the transducing signal Acquisition Circuit comprises the tilt signals Acquisition Circuit, and DC motor control circuit comprises direct current generator start-stop and commutating circuit.

Operation principle of the present utility model is: after the intelligent robot cart system powers on, host computer (notebook computer) is earlier by wireless communication module search control integrated circuit board, after searching for successfully, just can advance, retreat, turn left by Study of Intelligent Robot Control Software remote control robot on the notebook computer, right-hand rotation, brush lifting and cleaning action.Intelligent robot can realize along wall walking by the left side infrared distance sensor, can realize anti-rollover and topples over by being installed in inclinometer robot on the electric plate.By being installed in the optoelectronic switch of robot bottom, when detecting the front hole greater than 50mm is arranged, robot can halt immediately in case fall in the hole.The distance that the reading of notebook computer by gathering photoelectric encoder can robot measurement be walked; And can measure the size of robot angle of turn by the reading of gathering photoelectric encoder.

The utility model inclinometer signal acquisition circuit operation principle is: because of used control card has only the two-way analog quantity input, and the collection of transducing signal has 4 tunnel analog quantitys (two-way infrared sensing signal and two-way inclinometer signal), so need come it is switched by switch, the utility model adopts solid-state relay to realize (Fig. 2), when D1 solid-state relay 2 pin inclination collection signal QXJ1 is low level, D1 solid-state relay 7 pin and 8 pin conductings, and the dip angle signal of AIN1+ output inclinometer N1 (left and right directions); When D1 solid-state relay 4 pin inclination collection signal QXJ2 is low level, D1 solid-state relay 5 pin and 6 pin conductings, and the dip angle signal of AIN1+ output inclinometer N2 (fore-and-aft direction); And QXJ1 and QXJ2 are controlled by the digital quantity delivery outlet of control card, and QXJ1 and the every 100ms of QXJ2 signal switch once when establishment control software.Because of solid-state relay does not have the machinery contact, can reach 10 service life ⁸-10 ¹²Inferior, promptly can switch several hundred million times at least, with the 100ms interval calculation, just can use 347 working days (1 working day is to calculate 8 hour every day), illustrate that this scheme can satisfy the requirement in service life for 100,000,000 times.

Direct current generator start-stop and commutating circuit operation principle are: when K1 start-stop relay 16 pin play guard's valve (QTKG) for low level, K1 start-stop relay closes, 13,4 pin that are K1 start-stop relay link to each other with 8,9 pin, and direct current generator 1,2 pin have added the 24V DC voltage, and direct current generator just changes; When K1 start-stop relay 16 pin play guard's valve (QTKG) for high level, K1 start-stop relay is failure to actuate, 13,4 pin that are K1 start-stop relay still link to each other with 11 pin with 6, direct current generator has only 2 pin to link to each other with ground, 1 pin is unsettled, this moment, direct current generator did not change, and the height of promptly controlling K1 start-stop relay 16 pin level just can be realized the start-stop of direct current generator.When K2 throw over relay 16 pin reversing switches (HXKG) are low level, K2 throw over relay closure, 4 pin that are the K2 throw over relay link to each other with 8 pin, 13 pin link to each other with 9 pin, and direct current generator 1,2 pin have added 24V DC voltage (opposite with closed preceding polarity), direct current generator counter-rotating; The height of promptly controlling K2 throw over relay 16 pin level just can be realized the rotating of direct current generator.And start-stop switching signal and reversing switch signal be by the control of the digital quantity delivery outlet of control card, and control card links to each other with host computer by wireless device again, thereby the start-stop of this direct current generator and commutation can realize that remote-wireless controls.

The content that is not described in detail in this specification belongs to this area professional and technical personnel's known prior art.

Claims (3)

1. electric electrical control gear of intelligent robot, comprise electric plate, control module and performance element, control module comprises wireless communication module, the wireless video module, motion control card and CCD camera, performance element comprises servo motor driving system, driving system of stepping motor, direct current generator and infrared sensor, servo motor driving system is made up of DC servo motor driver+type photoelectric encoder+DC servo motor, 1 cover respectively is installed about the intelligence sweeping robot, to constitute its differential drive system, driving system of stepping motor is used for carrying out the brush head motor lifting, it is characterized in that: electric plate is an integrated transducing signal Acquisition Circuit, power circuit, the printed board of DC motor control circuit and motor driven systems interface, simultaneously, electric plate is returned wireless communication module and wireless video module for power supply, power circuit is made up of two parts, a part is made up of the DC/DC power module, be used for powering to control card, another part is made up of TI power supply chip TPS5410D, is used for powering to the intelligent robot illuminator.

2. the electric electrical control gear of intelligent robot as claimed in claim 1, it is characterized in that: the transducing signal Acquisition Circuit comprises the tilt signals Acquisition Circuit, the tilt signals Acquisition Circuit is made of left and right directions inclinometer N1, fore-and-aft direction inclinometer N2, solid-state relay D1, resistor R 1-R3, capacitor C1-C4, wherein:

The 8th pin of left and right directions inclinometer N1 meets power supply VCC, and links to each other with power cathode by capacitor C1, and the output of left and right directions inclinometer N1 is joined by the 7th pin of resistor R 1 with solid-state relay D1;

The 8th pin of fore-and-aft direction inclinometer N2 meets power supply VCC, and links to each other with power cathode by capacitor C2, and the output of fore-and-aft direction inclinometer N2 is joined by the 5th pin of resistor R 2 with solid-state relay D1;

The 1st, 3 pin of solid-state relay D1 link to each other with power supply VCC by resistor R 3, the 7th, 5 pin of solid-state relay D1 also link to each other with power cathode with capacitor C4 by capacitor C3 respectively, the 2nd, 4 pin of solid-state relay D1 are gathered control signal QXJ1 with tilting of control module output respectively and are gathered control signal QXJ2 and be connected with tilting forward and back, the 6th, 8 pin of the solid-state relay D1 output tilt signals that links to each other.

3. the electric electrical control gear of intelligent robot as claimed in claim 1, it is characterized in that: DC motor control circuit comprises direct current generator start-stop and commutating circuit, direct current generator start-stop and commutating circuit are made of start-stop relay K 1, throw over relay K2, wherein:

Two movable contacts 13,4 of start-stop relay K 1 link to each other, and join by the positive pole of resettable fuse and dc source, two normally-closed contacts 11,6 of start-stop relay K 1 are vacant, two normally opened contacts 9,8 of start-stop relay K 1 back in parallel is connected with first movable contact 4 of throw over relay K2, start-stop relay K 1 coil be connected with the direct current generator start-stop signal QTKG that control module is exported with positive source VCC respectively;

Second movable contact 13 of throw over relay K2 links to each other with the negative pole of dc source, first normally opened contact 9 of throw over relay K2 links to each other with second normally-closed contact 6, second normally opened contact 8 and first normally-closed contact 11 of throw over relay K2 join, and first normally opened contact 9 also is connected with the DC MOTOR CONTROL end by Connection Block X1 respectively with first normally-closed contact 11.

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