Motion control device of robot for detecting environmental pollution

Abstract

The invention discloses a motion control device of a robot for detecting environmental pollution, comprising a motor control module, a motor drive module with motor signal acquisition function, a wireless communication module, an embedded central processing unit (CPU) module, a main signal chip module, an image acquisition module with multi screen spilt function and a sensor acquisition module. Adrive current output end of the motor drive module is connected with power input ends of motors arranged on left and right wheels and front guide arm and is used for providing drive current for the motors. A motor drive signal output end of the motor control module is connected with a motor drive signal output end of the motor drive module and is used for controlling the size and the direction ofthe drive current. A motor control signal output end of the embedded CPU module is connected with a motor control signal input end of the motor control module and is used for sending motor control instruction to control the motion of the motors. A motor feedback signal output end of the motor control module is connected with a motor feedback signal input end of the embedded CPU module.

Description

technical field [0001] The invention relates to the field of mobile robot technology and environmental protection. The requirements relate to a motion control device for an environmental pollution detection robot. Background technique [0002] In the field of environmental pollution detection, due to some special circumstances or harsh environments, such as the leakage of dangerous chemicals and the pollution of nuclear waste, ordinary environmental protection personnel are inaccessible, and pollution detection cannot be carried out by general means. If environmental protection personnel carry detection instruments into the polluted area, not only is the efficiency low and the reliability low, but more importantly, the environmental protection personnel are extremely dangerous and can easily cause casualties. Moreover, the current specialized environmental inspection vehicles are bulky and slow to move, and cannot enter the interior of the building for inspection. [0003]...

AI Technical Summary

Problems solved by technology

[0004] The existing mobile robots of the same kind at home and abroad all adopt the embedded central processing unit + bus structure. The sensor data is directly sent to the embedded central processing unit without processing, and the instructions sent to different control units do not have a uniform format, which causes users to It is necessary to use the corresponding software platform to carry out secondary development, which limits the flexibility of development to a certain extent and also destroys the encapsulation of the underlying hardware platform; secondly, because there is no sensor redundancy, the measurement cannot be completed when the sensor fails function; in addition, similar robots use a single radio station for data and image transmission, which requires a large bandwidth and transmission power of the radio station, which cannot meet the long-distance control requirements of small robots

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