Control circuit of pipeline robot

Abstract

The invention provides a control circuit of a pipeline robot. The control circuit comprises a main control circuit, a motor driving circuit, a motion sensor circuit, a steering engine driving circuit, an input and output interface circuit, a wireless communication circuit, a step-down circuit and a step-up circuit, the motion sensor circuit is used for collecting motion parameters of the pipeline robot and controlling the motor driving circuit to drive the pipeline robot to move through the main control circuit; the steering engine driving circuit is used for driving a motor of the pipeline robot to work; the input and output interface module is used for performing corresponding interface connection and data transmission functions; the wireless communication circuit is used for carrying out wireless communication connection and realizing data transmission; the step-down circuit is used for performing a step-down protection function on the control circuit; and the booster circuit is used for supplying power to the main control circuit, the motion sensor circuit, the steering engine driving circuit, the input / output interface circuit and the wireless communication circuit. The control circuit of the pipeline robot can improve the control precision and reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control circuits, and in particular to a control circuit of a pipeline robot. Background Art

[0002] With the development of technology and the improvement of people's living standards, more and more mobile robots have entered the fields of civilian consumption and industrial production, bringing convenience to people's lives and production, such as amphibious robots, food delivery service robots, logistics handling robots and pipeline robots, etc. Robots need corresponding main control circuits to control them in order to work accurately. Therefore, pipeline energy transportation has become very popular in real society. Pipeline maintenance and mapping of geographical locations play a vital role in protecting the long-term integrity of pipelines.

[0003] At present, since pipeline robots are often in a mobile state when working, traditional manual regular excavation, inspection and maintenance are not only costly but also directly cause damage to the road surface. The existing pipeline embedded autonomous walking robot can realize the pipeline embedded autonomous walking function, and can be equipped with different modules to realize different functions. For example, it can be equipped with a high-precision IMU sensor to realize the geographic location mapping of the pipeline, or equipped with a camera module to take pictures to record whether there is any abnormality in the pipe, and can also be equipped with a robotic arm module to spray repair materials inside the pipe to repair pipe cracks, etc. At the same time, realizing automatic control of the robot in the pipeline is also an important part of ensuring that the robot realizes its functions.

[0004] However, the control circuit of the above pipeline robot cannot meet the requirements of existing robot control accuracy, low cost and reliability. Summary of the invention

[0005] The present invention provides a control circuit for a pipeline robot, aiming to solve the problems of low control accuracy, high cost and poor reliability of the existing control circuit for the pipeline robot.

[0006] An embodiment of the present invention provides a control circuit of a pipeline robot, including: a main control circuit, a motor drive circuit, a motion sensor circuit, a steering gear drive circuit, an input and output interface circuit, a wireless communication circuit, a buck circuit, and a boost circuit;

[0007] The main control circuit is electrically connected to the motor drive circuit, the motion sensor circuit, the servo drive circuit, the input-output interface circuit, the wireless communication circuit, the step-down circuit and the step-up circuit respectively; the motion sensor circuit is used to collect the motion parameters of the pipeline robot, and control the motor drive circuit to drive the pipeline robot to move through the main control circuit; the servo drive circuit is used to drive the motor of the pipeline robot to work; the input-output interface module is used to perform corresponding interface connection and data transmission functions; the wireless communication circuit is used to perform wireless communication connection and realize data transmission; the step-down circuit is used to perform a step-down protection function on the control circuit; the step-up circuit is used to power the main control circuit, the motion sensor circuit, the servo drive circuit, the input-output interface circuit and the wireless communication circuit.

[0008] Preferably, the main control circuit includes a main control chip, and a reset button circuit, a crystal oscillator circuit, a BOOT download circuit, a signal indicator light and a main control power indicator light which are electrically connected to the main control chip respectively; the main control chip controls the operation of the reset button circuit, the crystal oscillator circuit, the BOOT download circuit, the signal indicator light and the main control power indicator light respectively.

[0009] Preferably, the motor drive circuit includes four motor interfaces and a first motor drive chip and a second motor drive chip respectively connected to the four motor interfaces, and the main control circuit is used to respectively control the first motor drive chip and the second motor drive chip to perform driving functions.

[0010] Preferably, the motion sensor circuit includes a sensor chip, a resistor R18, a resistor R19, a resistor R20, a capacitor C21, a capacitor C2, a capacitor C23 and a capacitor C24; the sensor chip is used to determine the pipeline environment where the pipeline robot is located, and obtain and feed back to the main control chip in real time to enable the pipeline robot to adjust; one end of the resistor R18 is connected to one end of the resistor R19 and is used to connect to a power supply, and the other end of the resistor R18 and the other end of the resistor R19 are respectively connected to the sensor chip; the capacitor C21 is connected to the sensor chip and grounded; the capacitor C22 is connected to the sensor chip and grounded; the capacitor C23 is connected to the sensor chip and grounded; the resistor R20 is connected to the sensor chip and grounded; the capacitor C24 is respectively connected to the power supply and the sensor chip and grounded.

[0011] Preferably, the steering gear driving circuit includes an output logic chip, a resistor R51, a resistor R52, a U30 interface and a U31 interface;

[0012] The output logic chip is used to convert the full-duplex communication protocol of the main control chip into a half-duplex asynchronous serial communication protocol;

[0013] The output logic chip is connected to the resistor R51 and grounded, and the output logic chip is connected to the resistor R52 and is used to connect to the power supply; Pin 1 of the U30 interface and Pin 1 of the U31 interface are grounded respectively, Pin 2 of the U30 interface and Pin 2 of the U31 interface are connected to the VBAT port respectively; Pin 3 of the U30 interface and Pin 3 of the U31 interface are connected between the resistor R52 and the output logic chip.

[0014] Preferably, the input-output interface circuit includes a USB-to-serial port chip, a resistor R46, a resistor R47, a resistor R48, a resistor R49, a capacitor 52, a capacitor C53, a diode D7, a transistor Q3, and a transistor Q4;

[0015] Pin 5 of the USB-to-serial port chip is connected to the capacitor C52 and grounded; Pin 16 of the USB-to-serial port chip is respectively connected to the power supply and the capacitor C53 and grounded; Pin 14 of the USB-to-serial port chip is respectively connected to the first end of the resistor R48 and the emitter of the transistor Q3, Pin 13 of the USB-to-serial port chip is connected to the first end of the resistor R47, the second end of the resistor R47 is connected to the base of the transistor Q3, the collector of the transistor Q3 is respectively connected to the first end of the resistor R46 and the negative electrode of the diode D7, and the second end of the resistor R46 is used to connect to the power supply; the positive electrode of the diode D7 is connected to the NRST port of the main control chip; the second end of the resistor R48 is connected to the base of the transistor Q4, the emitter of the transistor Q4 is used to connect to the power supply, the collector of the transistor Q4 is connected to the first end of the resistor R49, and the second end of the resistor R49 is used to connect to the BOOT0 port of the main control chip.

[0016] Preferably, the wireless communication circuit includes a communication terminal RF1, a wireless communication module U21, a resistor R36, a capacitor C38 and a capacitor C39;

[0017] Pin 3 of the communication terminal RF1 is grounded, pin 2 of the communication terminal RF1 is connected to pin 1 of the wireless communication module U21, pin 1 of the communication terminal RF1 is respectively connected to the first end of the resistor R36 and the first end of the capacitor C38, the second end of the capacitor C38 is respectively connected to the first end of the capacitor C39 and pin 3 of the wireless communication module U21, the second end of the resistor R36 is connected to the second end of the capacitor C39 and connected to pin 2 of the wireless communication module U21; the wireless communication module U21 is connected to the main control chip.

[0018] Preferably, the step-down circuit includes a step-down chip U39, a voltage regulator U40, a resistor R47, a resistor R48, a resistor R49, a resistor R50, a capacitor C55, an inductor L2 and a plurality of capacitors;

[0019] The voltage regulator U40 is electrically connected to the buck chip U39 and is used to supply power to the buck chip U39;

[0020] Pin 3 and pin 5 of the buck chip U39 are respectively connected to the two ends of the resistor R47, and the multiple capacitors are respectively connected to pin 3 of the buck chip U39 and grounded; the first end of the capacitor C55 is connected to pin 6 of the buck chip U39, the second end of the capacitor C55 is respectively connected to pin 2 of the buck chip U39 and the first end of the inductor L2, the second end of the inductor L2 is connected to the first end of the resistor R49, the second end of the resistor R49 is respectively connected to the first end of the resistor R48 and the first end of the resistor R50, the second end of the resistor R50 is grounded, the second end of the resistor R48 is connected to pin 4 of the buck chip U39, and pin 1 of the buck chip U39 is grounded.

[0021] Preferably, the boost circuit includes a boost chip U44, a capacitor C61, a capacitor C62, a capacitor C63, a capacitor C64, a resistor U45, a resistor R55, a resistor R56, an inductor L3 and a diode D8;

[0022] The first end of the capacitor C61 is connected to the first end of the capacitor C64 and connected to pins 4 and 5 of the boost chip; the second end of the capacitor C61 is connected to the second end of the capacitor C64 and grounded; the first end of the capacitor C1 is also connected to the first end of the inductor L3, the second end of the inductor L3 is respectively connected to the positive electrode of the diode D8 and the pin 1 of the boost chip, the negative electrode of the diode D8 is respectively connected to the first end of the resistor R56, the first end of the capacitor C62 and the first end of the capacitor C63, and are commonly connected to the power supply; the second end of the resistor R56 is connected to the first end of the resistor U45, the second end of the resistor U45 is connected to the first end of the resistor R55 and pin 3 of the boost chip, the pin 2 of the boost chip is grounded, and the second end of the resistor R55 is respectively connected to the second end of the capacitor C62 and the second end of the capacitor C63 and grounded.

[0023] Preferably, the model of the main control chip is STM32F407VET6 chip.

[0024] Compared with the prior art, the beneficial effect of the present invention lies in that the main control circuit is electrically connected to the motor drive circuit, the motion sensor circuit, the servo drive circuit, the input-output interface circuit, the wireless communication circuit, the buck circuit and the boost circuit respectively; the motion sensor circuit is used to collect the motion parameters of the pipeline robot, and control the motor drive circuit to drive the pipeline robot to move through the main control circuit; the servo drive circuit is used to drive the motor of the pipeline robot to work; the input-output interface module is used to perform corresponding interface connection and data transmission functions; the wireless communication circuit is used to perform wireless communication connection and realize data transmission; the buck circuit is used to perform a voltage reduction protection function on the control circuit; the boost circuit is used to power the main control circuit, the motion sensor circuit, the servo drive circuit, the input-output interface circuit and the wireless communication circuit; therefore, the PCB of the present invention has a higher degree of integration, so that the overall volume of the robot can be reduced. It is more compact and equipped with a more advanced wireless transmission module, which has a better signal transmission environment than the existing Bluetooth module, greatly improving the stability and security of the communication between the robot and the host computer, and also greatly improving the transmission distance. The protection function of the motor is also more complete, for example, it prevents the peak high current and high voltage generated during motor blocking and startup from causing the driver chip to burn out, and reduces the signal interference of the driver to the main control chip and other important chips. The use of bus servos can improve the resource utilization of the single-chip microcomputer, that is, the main control chip, and can achieve a one-to-many control method. The chips used in the buck circuit and the boost circuit are more in line with the current required by the robot when it is working. While ensuring the stable operation of the load carried by the robot, many post-stage filter capacitors are added to filter out high-frequency and low-frequency clutter to ensure that the chip has better current when it is working. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be described in detail below in conjunction with the accompanying drawings. The above and other aspects of the present invention will become clearer and easier to understand through the detailed description made in conjunction with the following drawings. In the accompanying drawings:

[0026] Figure 1 is a module diagram of a control circuit of a pipeline robot provided by an embodiment of the present invention;

[0027] Figure 2 is a circuit diagram of a main control chip provided by an embodiment of the present invention;

[0028] Figure 3 is a circuit diagram of a reset button circuit provided by an embodiment of the present invention;

[0029] Figure 4 is a circuit diagram of a crystal oscillator circuit provided by an embodiment of the present invention;

[0030] Figure 5 is a circuit diagram of a BOOT download circuit provided by an embodiment of the present invention;

[0031] Figure 6 is a circuit diagram of a signal indicator light provided by an embodiment of the present invention;

[0032] Figure 7 is a circuit diagram of a main control power indicator light provided by an embodiment of the present invention;

[0033] Figure 8 is a circuit diagram of a motor drive circuit provided by an embodiment of the present invention;

[0034] Fig. 9 is a circuit diagram of a motion sensor circuit provided by an embodiment of the present invention;

[0035] Fig.10 is a circuit diagram of a steering gear drive circuit provided by an embodiment of the present invention;

[0036] Fig.11 is a circuit diagram of an input-output interface circuit provided by an embodiment of the present invention;

[0037] Fig.12 is a circuit diagram of a wireless communication circuit provided by an embodiment of the present invention;

[0038] Fig.13 is a circuit diagram of a step-down circuit provided by an embodiment of the present invention;

[0039] Fig.14 is a circuit diagram of a boost circuit provided in an embodiment of the present invention.

[0040] In the figure, 100, control circuit of the pipeline robot, 1, main control circuit, 2, motor drive circuit, 3, motion sensor circuit, 4, servo drive circuit, 5, input and output interface circuit, 6, wireless communication circuit, 7, buck circuit, 8, boost circuit. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0042] Combined with Figure 1-Figure 14 As shown, an embodiment of the present invention provides a control circuit 100 of a pipeline robot, comprising: a main control circuit 1, a motor drive circuit 2, a motion sensor circuit 3, a servo drive circuit 4, an input / output interface circuit 5, a wireless communication circuit 6, a buck circuit 7, and a boost circuit 8;

[0043] The main control circuit 1 is electrically connected to the motor drive circuit 2, the motion sensor circuit 3, the servo drive circuit 4, the input / output interface circuit 5, the wireless communication circuit 6, the step-down circuit 7 and the step-up circuit 8 respectively; the motion sensor circuit 3 is used to collect the motion parameters of the pipeline robot, and control the motor drive circuit 2 to drive the pipeline robot to move through the main control circuit 1; the servo drive circuit 4 is used to drive the motor of the pipeline robot to work; the input / output interface module is used to perform corresponding interface connection and data transmission functions; the wireless communication circuit 6 is used to perform wireless communication connection and realize data transmission; the step-down circuit 7 is used to perform a step-down protection function on the control circuit; the step-up circuit 8 is used to power the main control circuit 1, the motion sensor circuit 3, the servo drive circuit 4, the input / output interface circuit 5 and the wireless communication circuit 6. The PCB of the present invention has a higher degree of integration, so that the overall volume of the robot can be more miniaturized; it is equipped with a more advanced wireless transmission module, which has a better signal transmission environment compared to the existing Bluetooth module, greatly improves the stability and safety of the communication between the robot and the host computer, and also greatly improves the transmission distance; the protection function of the motor is also more perfect, for example, it prevents the peak high current and high voltage generated during motor blocking and startup from causing the driver chip to burn out, and reduces the signal interference of the driver to important chips such as the main control chip U1.1; the use of a bus servo can improve the resource utilization of the single-chip microcomputer, that is, the main control chip U1.1, and can achieve a one-to-many control mode; the chips used in the buck circuit 7 and the boost circuit 8 are more in line with the current required by the robot when it is working. While ensuring the stable operation of the load carried by the robot, many post-stage filter capacitors are added to filter out high-frequency clutter and low-frequency clutter to ensure that the chip can have a better quality current when it is working.

[0044] In this embodiment, the main control circuit 1 includes a main control chip U1.1, and a reset button circuit, a crystal oscillator circuit, a BOOT download circuit, a signal indicator light and a main control power indicator light which are electrically connected to the main control chip U1.1 respectively; the main control chip U1.1 controls the operation of the reset button circuit, the crystal oscillator circuit, the BOOT download circuit, the signal indicator light and the main control power indicator light respectively.

[0045] In this embodiment, the model of the main control chip U1.1 is STM32F407VET6 chip.

[0046] Specifically, the main control chip U1.1 is based on ARM Cortex-M4, with a main frequency of up to 168MHz, and has a DSP instruction set and a floating point unit (FPU), which is suitable for applications that require high computing performance. At the same time, the main control chip U1.1 has a rich peripherals, including multiple general-purpose input and output ports (GPIO), ADC, DAC, I2C, SPI, UART, CAN, USB OTG, SDIO and other peripheral interfaces, suitable for various application scenarios.

[0047] Large storage capacity: Integrated 512KB Flash and 192KB SRAM, which can meet the storage requirements of most embedded applications.

[0048] Low-power design: Multiple low-power modes, including sleep mode, stop mode, and standby mode, are suitable for power-sensitive applications.

[0049] Rich development resources: ST provides a complete development tool chain and libraries (such as STM32CubeMX and STM32 HAL library) to help developers quickly get started and develop.

[0050] Powerful real-time control capability: It has multiple timers, including advanced control timer (suitable for applications such as motor control), general timer and basic timer, which are suitable for applications requiring precise time control.

[0051] High integration: Integrates Ethernet MAC controller, LCD controller, etc., reducing the need for external devices and improving system integration.

[0052] Security: Supports CRC check, hardware encryption and true random number generator (RNG) to improve system security.

[0053] Scalability: The STM32F407 series has a variety of packages and different Flash / RAM configurations, and developers can choose the appropriate model according to their needs.

[0054] In this embodiment, the motor drive circuit 2 includes four motor interfaces and a first motor drive chip U37 and a second motor drive chip U40 respectively connected to the four motor interfaces. The main control circuit 1 is used to control the first motor drive chip and the second motor drive chip to perform driving functions respectively.

[0055] Specifically, two TB6612 motor driver chips are also loaded on the PCB, the first motor driver chip U37 and the second motor driver chip U40. TB6612FNG is a dual-channel H-bridge DC motor driver chip, which is widely used in robots, automation equipment, small power tools and other fields. It can independently control the forward and reverse rotation and speed of two DC motors, which is suitable for dual-motor systems; it supports pulse width modulation (PWM) control and can accurately adjust the speed of the motor. The rotation direction of the motor (forward, backward, stop) is controlled by logic level input. A fast braking function is provided, and the motor can be stopped quickly by setting the logic level. MOSFET is used as a switching element, which has a low on-resistance and high efficiency, reducing power consumption and heat generation. The maximum continuous output current of each channel is 1.2A, and the peak current can reach 3.2A, which is suitable for driving small and medium-sized DC motors. Therefore, TB6612FNG is a powerful, efficient, and fully protected motor driver chip, suitable for a variety of application scenarios of small DC motors that require precise control and efficient drive.

[0056] At the same time, the TB6612 motor driver is an internally integrated dual-channel motor driver chip that can replace the ordinary single-channel motor driver to make the robot's PCB board more miniaturized. When designing the PCB, it only needs a small amount of peripheral circuits to work, making the PCB layout more compact and improving the integration of the PCB. It also supports pulse width modulation (PWM) control and can accurately adjust the speed of the motor. When the robot faces a complex spatial structure, it can have a better motion path. In addition, the high efficiency and multiple protection functions of the chip solve the problem of the robot's motor life and battery power utilization under long-term work.

[0057] In this embodiment, the motion sensor circuit 3 includes a sensor chip, a resistor R18, a resistor R19, a resistor R20, a capacitor C21, a capacitor C2, a capacitor C23 and a capacitor C24; the sensor chip is used to determine the pipeline environment where the pipeline robot is located, and obtain and feed back to the main control chip U1.1 in real time to enable the pipeline robot to adjust; one end of the resistor R18 is connected to one end of the resistor R19 and is used to connect to a power supply, and the other end of the resistor R18 and the other end of the resistor R19 are respectively connected to the sensor chip; the capacitor C21 is connected to the sensor chip and grounded; the capacitor C22 is connected to the sensor chip and grounded; the capacitor C23 is connected to the sensor chip and grounded; the resistor R20 is connected to the sensor chip and grounded; the capacitor C24 is respectively connected to the power supply and the sensor chip and grounded.

[0058] Specifically, the sensor chip integrates a three-axis gyroscope and a three-axis accelerometer. The three-axis gyroscope measures the rotation speed of an object and provides angular velocity data in three axes: X, Y, and Z.

[0059] The MPU6050 sensor chip can be used to accurately determine the pipeline environment in which the robot is currently located. It can calculate and feed back to the main control chip U1.1 in real time so that the robot can adapt to the surrounding space and make adjustments.

[0060] In this embodiment, the servo drive circuit 4 includes an output logic chip U29, a resistor R51, a resistor R52, a U30 interface and a U31 interface; the output logic chip U29 is used to convert the full-duplex communication protocol of the main control chip U1.1 into a half-duplex asynchronous serial communication protocol; the output logic chip U29 is connected to the resistor R51 and grounded, and the output logic chip U29 is connected to the resistor R52 and is used to connect to the power supply; pin 1 of the U30 interface and pin 1 of the U31 interface are respectively grounded, and pin 2 of the U30 interface and pin 2 of the U31 interface are respectively connected to the VBAT port; pin 3 of the U30 interface and pin 3 of the U31 interface are connected between the resistor R52 and the output logic chip U29.

[0061] Specifically, the robot's servo system consists of an output logic chip SN74HC125N and a bus servo. The output logic chip can convert the full-duplex communication protocol of the main control chip U1.1 into a half-duplex asynchronous serial communication protocol to achieve the purpose of driving the bus servo. The use of a bus servo can reduce the occupation of internal resources and solve the problem of insufficient internal resources faced by the robot when using a large number of servos and motors.

[0062] In this embodiment, the input-output interface circuit 5 includes a USB-to-serial port chip, a resistor R46, a resistor R47, a resistor R48, a resistor R49, a capacitor 52, a capacitor C53, a diode D7, a transistor Q3 and a transistor Q4; a pin 5 of the USB-to-serial port chip is connected to the capacitor C52 and grounded; a pin 16 of the USB-to-serial port chip is respectively connected to a power supply and the capacitor C53 and grounded; a pin 14 of the USB-to-serial port chip is respectively connected to a first end of the resistor R48 and an emitter of the transistor Q3, and a pin 13 of the USB-to-serial port chip is connected to a first end of the resistor R47. The second end of the resistor R47 is connected to the base of the transistor Q3, the collector of the transistor Q3 is respectively connected to the first end of the resistor R46 and the cathode of the diode D7, and the second end of the resistor R46 is used to connect to the power supply; the anode of the diode D7 is connected to the NRST port of the main control chip U1.1; the second end of the resistor R48 is connected to the base of the transistor Q4, the emitter of the transistor Q4 is used to connect to the power supply, the collector of the transistor Q4 is connected to the first end of the resistor R49, and the second end of the resistor R49 is used to connect to the BOOT0 port of the main control chip U1.1.

[0063] Specifically, the USB interface chip used is CH9102, which is a USB bus adapter chip that realizes USB to asynchronous serial port. It provides commonly used MODEM communication signals, which are used to expand asynchronous serial ports for computers, or directly upgrade ordinary serial port devices or MCUs to USB bus. The chip has the following features: full-speed USB device interface, compatible with USBV2.0. Built-in firmware, emulation of standard serial port, used to upgrade the original serial port peripherals, or add additional serial ports through USB. Hardware full-duplex serial port, built-in independent send and receive buffer, supports communication baud rate 50bps~4Mbps. The serial port supports 5, 6, 7 or 8 data bits, odd parity, even parity, blank, mark and no parity. Supports commonly used MODEM communication signals RTS, DTR, DCD, RI, DSR, CTS. Supports CTS and RTS hardware automatic flow control. Supports half-duplex, provides sending status TNOW to support RS485 switching. Supports RS232 interface through external level conversion devices. The USB end supports 5V power supply voltage and 3.3V power supply voltage. The CH9102F serial port I / O is independently powered and supports 5V, 3.3V, 2.5V, and 1.8V power supply voltages. The CH9102X serial port I / O supports 3.3V signals. Built-in power-on reset, built-in clock, no external crystal oscillator required. Therefore, the CH9102 interface chip solves the problem of slow download speed of ordinary interface chips when the robot downloads a large number of programs, and replaces the traditional serial port download method, solves the problem of complex serial port download wiring, and the one-key download circuit designed by the serial port chip makes it more convenient and stable when burning programs, and is compatible with multiple USB interfaces and higher baud rates.

[0064] In this embodiment, the wireless communication circuit 6 includes a communication terminal RF1, a wireless communication module U21, a resistor R36, a capacitor C38 and a capacitor C39; pin 3 of the communication terminal RF1 is grounded, pin 2 of the communication terminal RF1 is connected to pin 1 of the wireless communication module U21, pin 1 of the communication terminal RF1 is respectively connected to the first end of the resistor R36 and the first end of the capacitor C38, the second end of the capacitor C38 is respectively connected to the first end of the capacitor C39 and pin 3 of the wireless communication module U21, the second end of the resistor R36 is connected to the second end of the capacitor C39 and connected to pin 2 of the wireless communication module U21; the wireless communication module U21 is connected to the main control chip U1.1.

[0065] Specifically, the PCB is also equipped with a wireless transmission module ATK-LORA-02. ATK-LORA-02 is a small-sized, micro-power, low-power, high-performance long-distance LoRa wireless serial port module. The module uses the efficient ISM band RF SX1278 spread spectrum chip. Its operating frequency is 410MHz~441MHz, and the channel is stepped by 1MHz. There are 32 channels in total. The serial port rate, transmission power, air rate, working mode, custom communication key and other parameters of the module can be modified online. Two of its transmission modes are used in the pipeline robot, namely

[0066] Transparent transmission mode: Transparent transmission means that the transmitted data is completely transparent, and the transmission data input by the serial port of the transmitter module is consistent with the reception data output by the serial port of the receiver module.

[0067] Transparent transmission can realize wireless data transmission between one module and one or more modules. As long as the device address, channel and air rate parameters configured for each module are the same, data communication can be carried out between these modules.

[0068] Directional transmission mode: Directional transmission means that the input data of the serial port of the transmitter module contains the device address and channel information of the specified transmission object module. The transmitter module will send the data to the specified receiving module with the same air rate. The serial port of the specified receiving module only outputs data that does not contain the device address and signal information of the specified transmission object module. Directional transmission can realize the transmitter module sending data to the specified receiving module at a fixed point at the same air rate.

[0069] In summary, the wireless communication module model ATK-LORA-02 can achieve real-time communication with the host computer, solving the problems of short transmission distance and unstable signal of ordinary Bluetooth modules. Its transparent transmission mode can avoid interference from the external environment to the communication, so that it can reach consistency with the data obtained by the host computer during long-distance communication. And the point-to-point transmission of the wireless transmission module can prevent it from connecting to other communication modules when it is turned on after the communication with the host computer is configured. On the premise of ensuring the synchronization of long-distance communication, it improves the stability and security of the signal, and can also achieve the transmission of high-frequency signals.

[0070] In this embodiment, the step-down circuit 7 includes a step-down chip U39, a voltage regulator U40, a resistor R47, a resistor R48, a resistor R49, a resistor R50, a capacitor C55, an inductor L2 and a plurality of capacitors; the voltage regulator U40 is electrically connected to the step-down chip U39 to supply power to the step-down chip U39; the pins 3 and 5 of the step-down chip U39 are respectively connected to the two ends of the resistor R47, and the plurality of capacitors are respectively connected to the pins 3 of the step-down chip U39 and grounded; the first end of the capacitor C55 Connected to pin 6 of the buck chip U39, the second end of the capacitor C55 is respectively connected to pin 2 of the buck chip U39 and the first end of the inductor L2, the second end of the inductor L2 is connected to the first end of the resistor R49, the second end of the resistor R49 is respectively connected to the first end of the resistor R48 and the first end of the resistor R50, the second end of the resistor R50 is grounded, the second end of the resistor R48 is connected to pin 4 of the buck chip U39, and pin 1 of the buck chip U39 is grounded.

[0071] Specifically, the buck circuit 7 uses a BL8033 synchronous buck converter to reduce the voltage of the lithium battery input to 5V. BL8033 is a highly efficient synchronous buck converter suitable for portable devices and other applications requiring high-efficiency, low-noise power conversion. It uses synchronous rectification technology with a conversion efficiency of up to 95%, which is suitable for application scenarios with high energy efficiency requirements.

[0072] With an input voltage range of 2.5V to 5.5V, it is suitable for lithium battery-powered and other low-voltage power supply systems. The output voltage range is adjustable from 0.6V to VIN through an external resistor divider to meet the voltage requirements of different loads. The switching frequency is up to 1.5MHz, which helps to use small-sized inductors and capacitors and reduce PCB area. The quiescent current is only 40μA when working, and the current is less than 1μA in standby mode, which is suitable for applications that are sensitive to power consumption. With overtemperature protection (OTP), overcurrent protection (OCP) and short circuit protection (SCP), the reliability of the system is improved. The built-in soft start function reduces the inrush current at startup and protects the power supply and load. Therefore, the BL8033 is a high-efficiency, low-power synchronous buck converter with a wide input voltage range, high switching frequency and multiple protection functions, suitable for a variety of application scenarios such as portable devices, battery-powered systems, embedded systems, etc.

[0073] In this embodiment, the boost circuit 8 includes a boost chip U44, a capacitor C61, a capacitor C62, a capacitor C63, a capacitor C64, a resistor U45, a resistor R55, a resistor R56, an inductor L3 and a diode D8; the first end of the capacitor C61 is connected to the first end of the capacitor C64 and connected to the pin 4 and the pin 5 of the boost chip; the second end of the capacitor C61 is connected to the second end of the capacitor C64 and grounded; the first end of the capacitor C1 is also connected to the first end of the inductor L3, and the second end of the inductor L3 is connected to the diodes D8 and L4 respectively. The positive electrode of D8 and the pin 1 of the boost chip, the negative electrode of the diode D8 are respectively connected to the first end of the resistor R56, the first end of the capacitor C62 and the first end of the capacitor C63, and are commonly connected to the power supply; the second end of the resistor R56 is connected to the first end of the resistor U45, the second end of the resistor U45 is connected to the first end of the resistor R55 and the pin 3 of the boost chip, the pin 2 of the boost chip is grounded, and the second end of the resistor R55 is respectively connected to the second end of the capacitor C62 and the second end of the capacitor C63 and grounded.

[0074] Specifically, 5V to 3.3V is converted using the TPRT9013-33GB low-dropout linear regulator, which uses its high precision and low noise characteristics to power the main control chip U1.1, gyroscope chip and other precision devices. It has a fixed 3.3V output voltage and multiple protection functions to ensure the stability of the main control chip U1.1.

[0075] The MT3608 boost chip is used in the boost circuit 8 of the PCB. The MT3608 is a highly efficient boost converter, which is widely used in portable devices and other electronic devices that need to increase a lower voltage to a higher voltage.

[0076] Specifically, BL8033 is a 5V to 3.3V synchronous buck converter that can provide up to 5A of current, solving the problem of insufficient power supply current when there are many loads inside the PCB. The MT3608 boost chip can boost the battery voltage to 12V to power the wireless image transmission, ensuring the stable operation of the robot's camera. The 2A discharge current greatly reduces the heat generation of the chip.

[0077] In this embodiment, there is also a buzzer on the PCB board; TOF laser ranging module: it can accurately measure the distance between the robot and the obstacle in front, so that the robot can make accurate judgments and avoid obstacles; optocoupler electronic switch: it can utilize the characteristics of its internal optocoupler and transistor to realize the use of the high and low levels of the main control chip U1.1 pin to control the opening and closing of a larger current.

[0078] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, article or device. In the absence of more restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, article or device including the element.

[0079] The embodiments of the present invention are described above in conjunction with the accompanying drawings. What is disclosed is only the preferred embodiment of the present invention. However, the present invention is not limited to the above-mentioned specific implementation manner. The above-mentioned specific implementation manner is only illustrative rather than restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms and equivalent changes without departing from the scope of protection of the purpose of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A control circuit of a pipeline robot, characterized in that: include: Main control circuit, motor drive circuit, motion sensor circuit, servo drive circuit, input and output interface circuit, wireless communication circuit, buck circuit and boost circuit; The main control circuit is electrically connected to the motor drive circuit, the motion sensor circuit, the servo drive circuit, the input-output interface circuit, the wireless communication circuit, the step-down circuit and the step-up circuit respectively; the motion sensor circuit is used to collect the motion parameters of the pipeline robot, and control the motor drive circuit to drive the pipeline robot to move through the main control circuit; the servo drive circuit is used to drive the motor of the pipeline robot to work; the input-output interface module is used to perform corresponding interface connection and data transmission functions; the wireless communication circuit is used to perform wireless communication connection and realize data transmission; the step-down circuit is used to perform a step-down protection function on the control circuit; the step-up circuit is used to power the main control circuit, the motion sensor circuit, the servo drive circuit, the input-output interface circuit and the wireless communication circuit.

2. The control circuit of the pipeline robot according to claim 1, characterized in that: The main control circuit includes a main control chip, and a reset button circuit, a crystal oscillator circuit, a BOOT download circuit, a signal indicator light and a main control power indicator light which are electrically connected to the main control chip respectively; the main control chip controls the operation of the reset button circuit, the crystal oscillator circuit, the BOOT download circuit, the signal indicator light and the main control power indicator light respectively.

3. The control circuit of the pipeline robot according to claim 1, characterized in that: The motor driving circuit includes four motor interfaces and a first motor driving chip and a second motor driving chip respectively connected to the four motor interfaces. The main control circuit is used to respectively control the first motor driving chip and the second motor driving chip to perform driving functions.

4. The control circuit of the pipeline robot according to claim 2, characterized in that: The motion sensor circuit includes a sensor chip, a resistor R18, a resistor R19, a resistor R20, a capacitor C21, a capacitor C2, a capacitor C23 and a capacitor C24; the sensor chip is used to determine the pipeline environment where the pipeline robot is located, and obtain and feed back to the main control chip in real time to enable the pipeline robot to adjust; one end of the resistor R18 is connected to one end of the resistor R19 and is used to connect to a power supply, and the other end of the resistor R18 and the other end of the resistor R19 are respectively connected to the sensor chip; the capacitor C21 is connected to the sensor chip and grounded; the capacitor C22 is connected to the sensor chip and grounded; the capacitor C23 is connected to the sensor chip and grounded; the resistor R20 is connected to the sensor chip and grounded; the capacitor C24 is respectively connected to the power supply and the sensor chip and grounded.

5. The control circuit of the pipeline robot according to claim 2, characterized in that: The servo drive circuit includes an output logic chip, a resistor R51, a resistor R52, a U30 interface and a U31 interface; The output logic chip is used to convert the full-duplex communication protocol of the main control chip into a half-duplex asynchronous serial communication protocol; The output logic chip is connected to the resistor R51 and grounded, and the output logic chip is connected to the resistor R52 and is used to connect to the power supply; Pin 1 of the U30 interface and pin 1 of the U31 interface are grounded respectively, and pin 2 of the U30 interface and pin 2 of the U31 interface are connected to the VBAT port respectively; pin 3 of the U30 interface and pin 3 of the U31 interface are connected between the resistor R52 and the output logic chip.

6. The control circuit of the pipeline robot according to claim 2, characterized in that: The input and output interface circuit includes a USB to serial port chip, a resistor R46, a resistor R47, a resistor R48, a resistor R49, a capacitor 52, a capacitor C53, a diode D7, a transistor Q3 and a transistor Q4; Pin 5 of the USB-to-serial port chip is connected to the capacitor C52 and grounded; Pin 16 of the USB-to-serial port chip is respectively connected to the power supply and the capacitor C53 and grounded; Pin 14 of the USB-to-serial port chip is respectively connected to the first end of the resistor R48 and the emitter of the transistor Q3, Pin 13 of the USB-to-serial port chip is connected to the first end of the resistor R47, the second end of the resistor R47 is connected to the base of the transistor Q3, the collector of the transistor Q3 is respectively connected to the first end of the resistor R46 and the negative electrode of the diode D7, and the second end of the resistor R46 is used to connect to the power supply; the positive electrode of the diode D7 is connected to the NRST port of the main control chip; the second end of the resistor R48 is connected to the base of the transistor Q4, the emitter of the transistor Q4 is used to connect to the power supply, the collector of the transistor Q4 is connected to the first end of the resistor R49, and the second end of the resistor R49 is used to connect to the BOOT0 port of the main control chip.

7. The control circuit of the pipeline robot according to claim 2, characterized in that: The wireless communication circuit includes a communication terminal RF1, a wireless communication module U21, a resistor R36, a capacitor C38 and a capacitor C39; Pin 3 of the communication terminal RF1 is grounded, pin 2 of the communication terminal RF1 is connected to pin 1 of the wireless communication module U21, pin 1 of the communication terminal RF1 is respectively connected to the first end of the resistor R36 and the first end of the capacitor C38, the second end of the capacitor C38 is respectively connected to the first end of the capacitor C39 and pin 3 of the wireless communication module U21, the second end of the resistor R36 is connected to the second end of the capacitor C39 and connected to pin 2 of the wireless communication module U21; the wireless communication module U21 is connected to the main control chip.

8. The control circuit of the pipeline robot according to claim 1, characterized in that: The step-down circuit includes a step-down chip U39, a voltage regulator U40, a resistor R47, a resistor R48, a resistor R49, a resistor R50, a capacitor C55, an inductor L2 and a plurality of capacitors; The voltage regulator U40 is electrically connected to the buck chip U39 and is used to supply power to the buck chip U39; Pin 3 and pin 5 of the buck chip U39 are respectively connected to the two ends of the resistor R47, and the multiple capacitors are respectively connected to pin 3 of the buck chip U39 and grounded; the first end of the capacitor C55 is connected to pin 6 of the buck chip U39, the second end of the capacitor C55 is respectively connected to pin 2 of the buck chip U39 and the first end of the inductor L2, the second end of the inductor L2 is connected to the first end of the resistor R49, the second end of the resistor R49 is respectively connected to the first end of the resistor R48 and the first end of the resistor R50, the second end of the resistor R50 is grounded, the second end of the resistor R48 is connected to pin 4 of the buck chip U39, and pin 1 of the buck chip U39 is grounded.

9. The control circuit of the pipeline robot according to claim 1, characterized in that: The boost circuit includes a boost chip U44, a capacitor C61, a capacitor C62, a capacitor C63, a capacitor C64, a resistor U45, a resistor R55, a resistor R56, an inductor L3 and a diode D8; The first end of the capacitor C61 is connected to the first end of the capacitor C64 and connected to pins 4 and 5 of the boost chip; the second end of the capacitor C61 is connected to the second end of the capacitor C64 and grounded; the first end of the capacitor C1 is also connected to the first end of the inductor L3, the second end of the inductor L3 is respectively connected to the positive electrode of the diode D8 and the pin 1 of the boost chip, the negative electrode of the diode D8 is respectively connected to the first end of the resistor R56, the first end of the capacitor C62 and the first end of the capacitor C63, and are commonly connected to the power supply; the second end of the resistor R56 is connected to the first end of the resistor U45, the second end of the resistor U45 is connected to the first end of the resistor R55 and pin 3 of the boost chip, the pin 2 of the boost chip is grounded, and the second end of the resistor R55 is respectively connected to the second end of the capacitor C62 and the second end of the capacitor C63 and grounded.

10. The control circuit of the pipeline robot according to claim 2, characterized in that: The model of the main control chip is STM32F407VET6 chip.

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