Controller of mobile robot

Abstract

A controller of a mobile robot is characterized by comprising an STM32-based MCU (Microprogrammed Control Unit), and further comprising a power management unit, and a communication unit, a wireless radio frequency unit, a posture analysis unit, a high-frequency pulse output unit, a digital quantity input unit, a digital quantity output unit, a 485 communication unit, a USB (Universal Serial Bus) virtual communication unit and a power detection unit which are connected with the MCU. The power supply detection unit is used for monitoring a power supply, the digital quantity input unit is used for collecting digital quantity, the digital quantity output unit is used for outputting the digital quantity, the wireless radio frequency unit can realize intelligent internet of things of a controller, and the high-frequency pulse output unit is used for outputting high-frequency pulse signals. The posture analysis unit is used for detecting the real-time posture of the robot. The controller is low in cost, compatible with various motor drivers and reliable in operation.

Description

Technical Field

[0001] The utility model relates to the technical fields of controllers, motor drives and intelligent Internet of Things, and in particular to a controller for a mobile robot based on STM32. Background Art

[0002] With the development of industry, fields such as automated assembly lines have begun to use mobile robots for loading and unloading. Mobile robots of different brands have problems such as different motor selection, poor compatibility, and different communication protocols. As a result, when a fault occurs, relevant personnel must rush to the scene to troubleshoot, which has high maintenance costs and high professional requirements. In order to solve the above problems, the present invention proposes a controller for a mobile robot. Utility Model Content

[0003] The utility model proposes a communication port with a small size, full functions and multiple communication protocols. The communication port is safe, reliable and intelligent, and can realize a controller compatible with multiple servo or stepper motors. The controller can also be equipped with a wireless remote controller to realize manual control of a mobile robot.

[0004] In order to achieve the above-mentioned purpose, the technical scheme adopted in this scheme is as follows: the mobile robot controller includes a main controller which is an MCU unit based on STM32, a power management unit and a communication unit connected to the MCU unit, a wireless radio frequency unit, a posture analysis unit, a high-frequency pulse output unit, a digital input unit, a digital output unit, a 485 communication unit, a USB virtual communication unit, a power detection unit, and a GPRS wireless remote transmission unit.

[0005] In particular, the mobile robot power supply detection unit can detect the power supply in real time and generate an alarm signal when the power supply fluctuates or is insufficient.

[0006] In particular, the high-frequency pulse output unit of the mobile robot outputs a high-frequency differential pulse signal to drive servo or stepper motors of different models.

[0007] In particular, the mobile robot controller power management unit can provide 24V, 5V, 3.3V DC voltages, and is connected to other units to provide working power for other units.

[0008] In particular, the digital quantity input unit of the mobile robot controller is used to collect high and low level signals and switch quantity signals, and the digital quantity output unit is used to output high and low level signals and switch quantity signals.

[0009] In particular, the mobile robot controller communication unit includes one standard RS485 communication interface and one USB virtual communication interface.

[0010] In particular, the mobile robot controller posture analysis unit detects the real-time posture of the robot.

[0011] In particular, the wireless radio frequency unit of the mobile robot controller is used for Internet of Things and manual remote control.

[0012] In particular, the GPRS wireless remote transmission unit of the mobile robot controller uses the Shanghai Quectel M35 module to achieve wireless remote transmission of data.

[0013] Compared with the existing controllers, the mobile robot controller of the utility model has the following advantages and beneficial effects: the mobile robot controller has rich ports, can achieve compatibility with a variety of motor drivers, is easy to program, and has a very significant cost reduction. The mobile robot controller has a built-in wireless transparent transmission unit, which can be used for manual control, has a wide range of applications, and can realize the intelligent Internet of Things of the controlled equipment. The mobile robot controller has RS485 and USB virtual serial port communication interfaces, which are convenient for connecting various main controllers and motor drivers, and no external expansion module is required, which is extremely convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solution used in the utility model, the following is a brief introduction to the drawings of the specification:

[0015] Figure 1 It is a structural block diagram of a mobile robot controller of the utility model. DETAILED DESCRIPTION

[0016] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation examples.

[0017] As attached Figure 1 As shown, the mobile robot controller includes an STM32-based MCU unit, a power management unit, a communication unit connected to the MCU unit, a wireless radio frequency unit, a posture analysis unit, a high-frequency pulse output unit, a digital input unit, a digital output unit, a USB virtual communication unit, a 485 communication unit, and a power detection unit.

[0018] As attached Figure 1 As shown, the communication unit of the mobile robot controller includes 1 RS485 and 1 USB virtual serial port communication interface. The controller is compatible with multiple communication modes and has good compatibility with different types of drives.

[0019] The wireless radio frequency communication unit described in the utility model uses the LoRa spread spectrum wireless module Ra-02. This module has strong penetration ability, strong anti-interference ability, and a transmission distance of up to 10,000 meters. The controller can realize the interconnection of things and manual remote control of the motor through the LoRa spread spectrum wireless module.

[0020] The high-frequency pulse output unit of the utility model adopts a high-speed optical coupler and a differential chip in combination, which can effectively isolate the motor driver from the controller and ensure the stability of the control pulse frequency.

[0021] The digital quantity input unit of the utility model includes 4 digital quantity input ports for collecting digital signals. In practice, it can be used to connect with limit switches, photoelectric switches, collision sensors, etc. to reduce the use risk of the mobile robot.

[0022] The digital output unit of the utility model adopts ULN2003L Darlington tube and optocoupler output. The ULN2003L Darlington tube drive circuit has high real-time performance, and the optocoupler isolation output has good isolation. These two digital output modes meet the different needs of different drivers and peripherals.

[0023] The power detection unit described in the utility model can detect the battery power voltage of the mobile robot in real time, and promptly issue an alarm message in the case of low voltage or power voltage fluctuation, which can effectively prevent load overload and motor overload, and can also fully remind the user to charge the mobile robot in time.

[0024] The posture analysis unit described in the utility model adopts the MPU9250 module. After data fitting and data analysis of the nine-axis data acquired by the MPU9250, it can detect the real-time posture of the robot to a limited extent, effectively prevent the uphill or downhill angle from being too large, and can output an alarm signal in time when the mobile robot rolls over or has an abnormal posture.

Claims

1. A controller for a mobile robot, characterized in that The invention comprises an STM32-based MCU unit, and further comprises a power management unit and a communication unit connected to the MCU unit, a wireless radio frequency unit, a posture analysis unit, a high-frequency pulse output unit, a digital quantity input unit, a digital quantity output unit, a 485 communication unit, a USB virtual communication unit, a power supply detection unit, and a GPRS wireless remote transmission unit. The power supply detection unit is used for power supply monitoring; the digital quantity input unit is used for digital quantity collection; the digital quantity output unit is used for digital quantity output; the wireless radio frequency unit can realize intelligent Internet of Things of the controller; the high-frequency pulse output unit is used for outputting high-frequency pulse signals; and the posture analysis unit is used for real-time posture detection of the robot.

2. A mobile robot controller according to claim 1, characterized in that: The communication unit connected to the MCU unit includes 1 standard RS485 communication interface and 1 USB virtual communication interface to realize communication with the main controller and the driver.

3. A mobile robot controller according to claim 1, characterized in that: The wireless radio frequency unit uses the LoRa spread spectrum wireless module Ra-02, which has strong wall penetration capability and is suitable for IoT with external controllers.

4. A mobile robot controller according to claim 1, characterized in that: The posture analysis unit uses the MPU9250 module to achieve real-time posture analysis of the nine axes.

5. The controller of a mobile robot according to claim 1, characterized in that: The GPRS wireless remote transmission unit uses the Shanghai Quectel M35 module to achieve wireless remote transmission of data.

6. A mobile robot controller according to claim 1, characterized in that: The high-frequency pulse output unit adopts a combination of high-speed optocoupler and differential chip to isolate the interference between the driver and the controller and improve the operation reliability.

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