Electric roller control device based on CAN bus

Abstract

The invention provides an electric roller control device based on a CAN bus, and belongs to the technical field of logistics transportation, the electric roller control device comprises a main control module, a CAN communication module, an electric roller interface module and a sensor interface module, the CAN communication module is connected with an upper computer through the CAN bus; the main control module is provided with a main control chip U5A, and the main control chip U5A is connected with the CAN communication module; the input end of each electric roller interface module is connected with the main control chip U5A, and the output end of each electric roller interface module is connected with a driving motor of an electric roller; the output end of each sensor interface module is connected with the main control chip U5A, the input end of each sensor interface module is connected with the sensor, and the sensor interface modules are used for feeding signals collected by the sensor back to the main control chip U5A so as to control the electric roller to rotate through the electric roller interface modules. The electric roller control device is high in automation degree and intelligent degree, control over the multiple electric rollers can be achieved, and a strong current / weak current coupling interference field of a driving circuit and a control circuit is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics transportation, and in particular to a motorized roller control device based on a CAN bus. Background Art

[0002] Logistics roller conveyor lines are mechanized systems that use motors to drive rollers, transferring power through friction to achieve continuous cargo transportation. They are core equipment in modern warehousing. With the rapid development of modern logistics, the requirements for automation and intelligent logistics conveying equipment are becoming increasingly higher.

[0003] At present, the control communication mode of the electric roller in the logistics roller conveyor line is mostly IO control or PROFINET, EtherNet / IP, EtherCat, Modbus. The drive motor is externally driven, and the motor drive circuit and control circuit are both on the external controller. In special scenarios, interference will occur, resulting in unstable operation. Summary of the Invention

[0004] In view of the above problems existing in the prior art, the present invention discloses a motorized roller control device based on a CAN bus.

[0005] A CAN bus-based electric roller control device includes a main control module, a CAN communication module, an electric roller interface module and a sensor interface module. The CAN communication module is connected to a host computer via a CAN bus. The main control module has a main control chip U5A, which is connected to the CAN communication module. There are multiple electric roller interface modules, each of which has an input end connected to the main control chip U5A and an output end connected to the drive motor of the electric roller, including an electric roller speed control interface circuit and an electric roller direction control interface circuit. There are multiple sensor interface modules, each of which has an output end connected to the main control chip U5A and an input end connected to a sensor, for feeding back signals collected by the sensor to the main control chip U5A, thereby controlling the rotation of the electric roller through the electric roller interface module.

[0006] Furthermore, the electric roller control device of the present application also includes multiple protection modules, the output end of each protection module is connected to the main control chip U5A, including a control voltage sampling protection circuit, a bus voltage sampling protection circuit and a PCB temperature sampling protection circuit.

[0007] Furthermore, the electric roller control device of the present application further includes a plurality of alarm modules, each of which is communicatively connected to the main control module and is configured to feed back an electric roller alarm signal to the main control module.

[0008] Furthermore, the electric roller control device of the present application also includes an IP address editing module, the output end of which is connected to the main control module, for configuring an IP address for the electric roller control device to achieve the integration of CAN equipment and Ethernet.

[0009] Furthermore, the CAN communication module includes a transceiver chip U18, the RXD pin of the transceiver chip U18 is connected to the CAN_RX pin of the main control chip U5A via a resistor R98, and the TXD pin of the transceiver chip U18 is connected to the CAN_TX pin of the main control chip U5A via a resistor R99; the CANH pin of the transceiver chip U18 is connected to the CANH interface via pins 1 and 2 of the common-mode inductor L3, and the CANL pin of the transceiver chip U18 is connected to the CAN_TX pin of the main control chip U5A via the common-mode inductor L3. Pin 4 and pin 3 are connected to the CANL interface, and the CANH interface and the CANL interface are used to connect to the CAN bus; the 2-pin end of the common-mode inductor L3 is grounded via the TVS diode Z2, the 3-pin end of the common-mode inductor L3 is grounded via the TVS diode Z1, the 1-pin end of the common-mode inductor L3 is grounded via the resistor R101 and the capacitor C66, the 4-pin end of the common-mode inductor L3 is grounded via the resistor R100 and the capacitor C66, and a capacitor C59 is connected in parallel between the 1-pin end and the 4-pin end of the common-mode inductor L3.

[0010] Furthermore, one end of the input end of the electric drum speed control interface circuit is connected to the DSP_AO1 pin of the main control chip U5A, and the other end is connected to one end of the resistor R79 and the resistor R132 at the same time. The other end of the resistor R79 is grounded, and the other end of the resistor R132 is connected to the non-inverting end 3 pin of the operational amplifier U15A; the power supply +24V is connected to the 8th pin of the operational amplifier U15A and the capacitor C50 at the same time, and the other end of the capacitor C50 is grounded; the inverting end 2 pin of the operational amplifier U15A is connected to one end of the resistor R142 and the resistor R144 at the same time. 2 is grounded, the other end of the resistor R144 is connected to the output terminal pin 1 of the operational amplifier U15A; the output terminal pin 1 of the operational amplifier U15A is connected to the capacitor C51 and the non-inverting terminal pin 5 of the operational amplifier U15B through the resistor R136, the other end of the capacitor C51 and the pin 4 of the operational amplifier U15A are grounded; the inverting terminal pin 6 of the operational amplifier U15B is connected to the output terminal pin 7 of the operational amplifier U15B, and the output terminal pin 7 of the operational amplifier U15B is connected to the output end of the electric drum speed control interface circuit through the resistor R139.

[0011] Furthermore, the output end of the electric drum speed control interface circuit is connected to the voltage stabilizing diode D15 and the capacitor C52 at the same time, and the other ends of the voltage stabilizing diode D15 and the capacitor C52 are grounded.

[0012] Furthermore, one end of the input end of the electric drum direction control interface circuit is connected to the DSP_DO1 pin of the main control chip U5A, and the other end is connected to one end of the resistor R81 and the base of the NPN transistor Q9 through the resistor R77. The other end of the resistor R81 and the emitter of the NPN transistor Q9 are grounded. The collector of the NPN transistor Q9 is connected to one end of the resistor R74 and the 2nd pin of the photocoupler U12 through the resistor R75. The power supply +5V is connected to the other end of the resistor R74 and the 1st pin of the photocoupler U12 at the same time; the power supply + 24V is connected to the anode of the diode D2 through the resistor R60, and the cathode of the diode D2 is simultaneously connected to the 4th pin of the photoelectric coupler U12, the collector of the NPN transistor Q8, the cathode of the diode D3 and one end of the resistor R71. The other end of the resistor R71 is connected to the output end of the electric roller direction control interface circuit, and the anode of the diode D3 and the emitter of the NPN transistor Q8 are grounded; the 3rd pin of the photoelectric coupler U12 is simultaneously connected to the base of the NPN transistor Q8 and one end of the resistor R78, and the other end of the resistor R78 is grounded.

[0013] Furthermore, one end of the input end of the alarm module is connected to the external alarm trigger device, and the other end is simultaneously connected to one end of resistor R52 and resistor R68, the other end of the resistor R52 is grounded, the other end of the resistor R68 is simultaneously connected to one end of resistor R61 and pin 1 of the photoelectric coupler U9, the other end of the resistor R61 is simultaneously connected to one end of resistor R49 and pin 2 of the photoelectric coupler U9, and the other end of the resistor R49 is connected to D11; the power supply 3.3V is respectively connected to pin 4 of the photoelectric coupler U9 and the output end of the alarm module through the resistor R43, and the output end of the alarm module is connected to the DSP_DI1 pin of the main control chip U5A; pin 3 of the photoelectric coupler U9 is grounded.

[0014] Furthermore, in the PCB temperature sampling protection circuit, one end of the resistor R87 is connected to the power supply +3.3V, and the other end is connected to the thermistor RT1. The other end of the thermistor RT1 is grounded. The temperature sampling point TEMP is located between the resistor R87 and the thermistor RT1; and the two ends of the thermistor RT1 are connected in parallel with the capacitor C55.

[0015] Compared with the prior art, the beneficial effects of the present invention are: the electric roller control device of the present invention enables the main control module and the host computer to communicate through the CAN bus through the setting of the CAN communication module, and the new equipment only needs to be mounted on the CAN bus, the expansion capability is strong, and the stability of CAN communication is high; in addition, the electric roller control device of the present invention has a high degree of integration, has multiple electric roller interface modules and sensor modules, can realize the control of multiple electric rollers at the same time, reduces the complexity of external wiring, and has a high degree of automation and intelligence. Through the setting of the interface circuit, the strong / weak electric coupling interference field of the drive circuit and the control circuit can be effectively reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The following is a structural block diagram of a CAN bus-based electric drum control device according to the present invention; Figure 2 Shown Figure 1 The circuit structure diagram of the main control module shown; Figure 3 Shown Figure 1 The circuit structure diagram of the CAN communication module shown; Figure 4 yes Figure 1 The circuit structure diagram of the electric drum speed control interface circuit is shown; Figure 5 yes Figure 1 The circuit structure diagram of the electric drum direction control interface circuit is shown; Figure 6 yes Figure 1 The circuit structure diagram of the alarm module shown; Figure 7 yes Figure 1 The circuit structure diagram of the PCB temperature sampling protection circuit is shown; Figure 8 yes Figure 1 The circuit structure diagram of the bus voltage sampling protection circuit shown; Figure 9 yes Figure 1 The circuit structure diagram of the control voltage sampling protection circuit is shown.

[0017] In the picture: 1- Main control module; 2- CAN communication module; 3- Electric roller interface module; 31- Electric roller speed control interface circuit; 32- Electric roller direction control interface circuit; 4- Sensor interface module; 5- Protection module; 6- Alarm module; 7- IP address editing module; 8- Power supply module. DETAILED DESCRIPTION

[0018] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0019] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0021] Combine Figure 1 As shown, the present application discloses a CAN bus-based electric roller control device comprising a main control module 1, a CAN communication module 2, an electric roller interface module 3, a sensor interface module 4, a protection module 5, an alarm module 6, an IP address editing module 7 and a power supply module 8. The main control module 1 comprises a main control chip U5A, as shown in FIG. Figure 2As shown, the main control chip U5A is model F280041CPZS and is used to process the control algorithm in real time. The CAN communication module 2 serves as a communication bridge between the host computer and the main control module 1. It communicates with the main control module 1 and is connected to the host computer via the CAN bus, enabling command downlink and data upload. Two electric roller interface modules 3 are provided, capable of connecting to two electric rollers. They communicate with the main control module 1 and include an electric roller speed control interface circuit 31 and an electric roller direction control interface circuit 32. The electric roller speed control interface circuit 31 adjusts the speed of the electric roller according to commands from the main control module 1, while the electric roller direction control interface circuit 32 changes the direction of rotation (forward or reverse) of the electric roller according to commands from the main control module 1. The sensor interface module 4 has an output connected to the main control module 1 and an input connected to a sensor. It is used to feed various status data (such as position and pressure) collected by the sensors back to the main control module 1. The protection module 5 includes a control voltage sampling protection circuit 51, a bus voltage sampling protection circuit 52, and a PCB temperature sampling protection circuit 53. The control voltage sampling protection circuit 51 is used to monitor the control circuit voltage. When an abnormality occurs, it is linked to the main control module 1 for protection to prevent voltage problems from damaging the equipment. The bus voltage sampling protection circuit 52 is used to monitor the main power supply bus voltage. When an abnormality occurs, it is linked to the main control module 1 for protection to ensure the safety of the system power supply. The PCB temperature sampling protection circuit 53 is used to monitor the PCB circuit board temperature. When the temperature exceeds the limit, it is linked to the main control module 1 for protection to avoid overheating damage. The input end of the alarm module 6 is connected to the signal interface of the external alarm trigger device, and the output end is connected to the main control module 1 for feeding back the electric roller alarm signal to the main control module 1. The IP address editing module 7 is connected to the main control module 1 for communication and is used to configure the IP address for the electric roller control device, realizing the integration of CAN devices and Ethernet. The power supply module 8 is electrically connected to the above modules and is used to supply power to the above modules.

[0022] In summary, the main control module 1 of the present invention receives various input signals, outputs control instructions after processing, and simultaneously links the protection mechanism to ensure stable and safe operation of the electric drum. Each module has a clear division of labor and jointly supports the functional realization of the electric drum system.

[0023] Specific, combined Figure 3As shown, CAN communication module 2 includes a transceiver chip U18, model CA-IS2062A, which is used to implement signal conversion and communication between the main control module 1 and the CAN bus. The RXD pin of transceiver chip U18 is connected to the CAN_RX pin of the main control chip U5A via resistor R98, and is used to receive control signals sent by the main control chip U5A. The TXD pin of transceiver chip U18 is connected to the CAN_TX pin of the main control chip via resistor R99, and is used to transmit data received on the CAN bus back to the main control chip U5A. The CANH pin of transceiver chip U18 is connected to the CANH interface via pins 1 and 2 of common-mode inductor L3, and the CANL pin of transceiver chip U18 is connected to the CANL interface via pins 4 and 3 of common-mode inductor L3. The CANH interface and CANL interface are used to connect to the CAN bus and output or receive differential signals. Pin 2 of the common-mode inductor L3 is connected to ground via TVS diode Z2. Pin 3 of the common-mode inductor L3 is connected to ground via TVS diode Z1. Pin 1 of the common-mode inductor L3 is connected to ground via resistor R101 and capacitor C66. Pin 4 of the common-mode inductor L3 is connected to ground via resistor R100 and capacitor C66. Capacitor C59 is connected in parallel between pins 1 and 4 of the common-mode inductor L3. Common-mode inductor L3 suppresses common-mode noise on the CAN bus and improves communication interference immunity. TVS diodes Z1 and Z2 provide surge protection. When the CAN bus experiences lightning strikes or transient high voltages, TVS diodes Z1 and Z2 conduct and clamp, protecting the transceiver chip U18 from overvoltage damage. Resistors R100, R101, and capacitor C66 form an RC filter to further filter out CAN bus noise.

[0024] The working principle of the CAN communication module 2 of the present invention is: When sending data, the main control chip U5A sends a logic level signal to the CAN_TX pin, which enters the TXD pin of the transceiver chip U18 through the resistor R99. The transceiver chip U18 converts the logic level signal into a differential signal, which is then sent to the CAN bus after being processed by the common-mode inductor L3, TVS diodes Z1, Z2 and RC filtering.

[0025] When receiving data, the differential signal of the CAN bus enters the CANH pin and CANL pin of the transceiver chip U18 after being processed by the common-mode inductor L3, TVS diodes Z1, Z2 and RC filtering. After the transceiver chip converts the differential signal into a logic level signal, it is output to the CAN_RX pin of the main control chip through resistor R98 and received by the main control chip U5A.

[0026] To summarize, this application uses the transceiver chip U18 to realize the conversion between the logic level of the master control chip U5A and the differential signal of the CAN bus, and reduces interference in all directions through the common-mode inductor L3, TVS diodes Z1, Z2 and RC filtering to ensure the stability of CAN communication.

[0027] Furthermore, this embodiment takes one of the electric roller control interface modules 3 as an example to introduce the electric roller speed control interface circuit 31 and the electric roller direction control interface circuit 32. Figure 4 As shown, one end of the input end of the electric drum speed control interface circuit 31 is connected to the DSP_AO1 pin of the main control chip U5A, and the other end is connected to one end of the resistor R79 and the resistor R132 at the same time. The other end of the resistor R79 is grounded, and the other end of the resistor R132 is connected to the non-inverting end 3 pin of the operational amplifier U15A; the power supply +24V is connected to the 8th pin of the operational amplifier U15A and the capacitor C50 at the same time, and the other end of the capacitor C50 is grounded; the inverting end 2 pin of the operational amplifier U15A is connected to one end of the resistor R142 and the resistor R144 at the same time, and the resistor R The other end of resistor R142 is grounded. The other end of resistor R144 is connected to output pin 1 of operational amplifier U15A. Output pin 1 of operational amplifier U15A is connected to capacitor C51 and the non-inverting pin 5 of operational amplifier U15B via resistor R136. The other end of capacitor C51 and pin 4 of operational amplifier U15A are grounded. The inverting pin 6 of operational amplifier U15B is connected to output pin 7 of operational amplifier U15B. Output pin 7 of operational amplifier U15B is connected to the output of the electric roller speed control interface circuit via resistor R139. The output of the electric roller speed control interface circuit is connected to both Zener diode D15 and capacitor C52. The other ends of Zener diode D15 and capacitor C52 are grounded.

[0028] The working principle of the electric drum speed control interface circuit of this application is: Based on the target speed of the electric drum, the main control chip U15A outputs a corresponding analog voltage signal through pin DSP_A01. This signal, after being grounded by resistor R79, enters the non-inverting input terminal 3 of operational amplifier U15A. After amplification by operational amplifier U15A, it is output from output terminal 1 of operational amplifier U15A and then enters operational amplifier U15B through resistor R136. Operational amplifier U15B forms a voltage follower, which not only isolates the upstream and downstream circuits but also drives the downstream load. After outputting from output terminal 7 of operational amplifier U15B, the signal flows to the output terminal of the electric drum speed control circuit. When the output signal voltage exceeds 12V, Zener diode D15 conducts, clamping the voltage to 13.1V. In summary, the electric drum speed control interface circuit of the present invention, after amplification, filtering, and overvoltage protection, outputs a stable voltage signal of appropriate amplitude. This signal is used to change the rotational speed of the electric drum, achieving precise speed control of the electric drum.

[0029] Further, combined Figure 5 As shown, one end of the input of the electric drum direction control interface circuit of the present invention is connected to the DSP_DO1 pin of the main control chip U5A. The other end is connected to one end of resistor R81 and the base of NPN transistor Q9 through resistor R77. The other end of resistor R81 and the emitter of NPN transistor Q9 are grounded. The collector of NPN transistor Q9 is connected to one end of resistor R74 and pin 2 of optocoupler U12 through resistor R75. The +5V power supply is connected to the other end of resistor R74 and pin 1 of optocoupler U12. The +24V power supply is connected to the anode of diode D2 through resistor R60. The cathode of diode D2 is simultaneously connected to pin 4 of optocoupler U12, the collector of NPN transistor Q8, the cathode of diode D3 and one end of resistor R71. The other end of resistor R71 is connected to the output end of the electric drum direction control interface circuit. The anode of diode D3 and the emitter of NPN transistor Q8 are grounded. Pin 3 of optocoupler U12 is simultaneously connected to the base of NPN transistor Q8 and one end of resistor R78. The other end of resistor R78 is grounded.

[0030] The working principle of the electric drum direction control interface circuit of the present invention is: Forward Control: When the DSP_DO1 pin of the main control chip U5A outputs a high level, current flows through resistor R77 to the base of NPN transistor Q9, turning on NPN transistor Q9. Once turned on, NPN transistor Q9 pulls its collector down to near ground. The current path is: +5V power supply → pin 1 of optocoupler U12 → pin 2 of optocoupler U12 → resistor R75 → collector of NPN transistor Q9 → emitter of NPN transistor Q9 → GND. This current illuminates the LED inside optocoupler U12, triggering the phototransistor inside it to turn on. Once the phototransistor turns on, a path is established between pins 3 and 4 of optocoupler U12. The current path is: +24V power supply → resistor R60 → ​​diode D2 → pin 4 of optocoupler U12 → pin 3 of optocoupler U12 → resistor R78 → GND. This current flows through resistor R78, generating a voltage drop across it. This current also flows to the base of NPN transistor Q8, turning it on and forming a low-resistance path between its collector and emitter. At this point, Q8 pulls the potential of output terminal DO1 down to near ground (GND). This low-level signal drives the external actuator to rotate forward.

[0031] Reverse control: When the DSP_DO1 pin of the main control chip U5A outputs a low level, NPN transistor Q9 is turned off, and no current flows through the LED inside optocoupler U12, causing it to not emit light. The phototransistor inside optocoupler U12 is also turned off, disconnecting its output terminals, pins 3 and 4. Because pin 3 of optocoupler U12 has no output current, the base of NPN transistor Q8 has no drive current, turning off Q8. Its collector-emitter state is high-impedance, and it no longer pulls output terminal DO1 low. The current path is now: +24V power supply through resistor R60 → ​​diode D2 → resistor R71 → output terminal DO1, forming a path. The potential of output terminal DO1 is raised to nearly +24V, and this high-level signal drives the external actuator to reverse.

[0032] Furthermore, this embodiment takes one of the alarm modules 6 as an example to elaborate on the circuit structure of the alarm module 6. Figure 6As shown, one end of the input end of the alarm module 6 is connected to the external alarm trigger device, and the other end is simultaneously connected to one end of a resistor R52 and a resistor R68. The other end of the resistor R52 is grounded. The other end of the resistor R68 is simultaneously connected to one end of a resistor R61 and pin 1 of the photocoupler U9. The other end of the resistor R61 is simultaneously connected to one end of a resistor R49 and pin 2 of the photocoupler U9. The other end of the resistor R49 is connected to D11. The power supply 3.3V is connected to pin 4 of the photocoupler U9 and the output end of the alarm module through the resistor R43. The output end of the alarm module is connected to the DSP_DI1 pin of the main control chip U5A. Pin 3 of the photocoupler U9 is grounded. The alarm module of the present invention is an alarm circuit based on the photocoupler U9, including an input side circuit and an output side circuit. The input side circuit includes resistors R68, R61, and R49. After the voltage at CMO is divided by this group of resistors, it limits the current flowing into pin 1 of the photocoupler U9 to prevent damage to the light-emitting diode of the photocoupler due to excessive current. The photoelectric coupler U9 cuts off the electrical connection between the external alarm trigger circuit and the control module, and transmits the alarm with an optical signal, which has strong anti-interference ability.

[0033] The working principle of the alarm module of the present invention is: When there is no alarm signal, CMO3 has no level change, the light-emitting diode in the photocoupler U9 has no current, the phototransistor is cut off, and the 3.3V voltage is output after passing through the resistor R43. Since the phototransistor is cut off, the current cannot pass through the phototransistor to ground, and the output end maintains a high level.

[0034] When there is an alarm signal, the level of CMO3 changes. After the voltage is divided by R68 and R61, current flows through the input side of the optocoupler (pin 1 and pin 2), and the internal light-emitting diode lights up. The light signal triggers the phototransistor on the output side of the optocoupler (pin 3 and pin 4) to turn on, forming a new current path. At this time, the 3.3V voltage is connected to pin 4 of the optocoupler through resistor R43, and then connected to ground through pin 3. At this time, the output end is at a low level. The main control chip U5A detects the level jump at the output end, identifies the alarm signal of the electric roller, and triggers subsequent alarm processing (such as shutdown, sound and light alarm, etc.).

[0035] In summary, the alarm circuit of the present invention uses optocoupler isolation technology to reliably connect and electrically isolate the external alarm signal of the electric drum from the internal control circuit. When an abnormality in the electric drum triggers an alarm signal, the alarm information is accurately and reliably transmitted to the control module, enabling timely implementation of appropriate measures to ensure the safe operation of the electric drum system.

[0036] Further, combined Figure 7As shown, the PCB temperature sampling and protection circuit of the present invention utilizes the temperature-dependent resistance change of an NTC thermistor to achieve real-time sampling of the PCB temperature and provide temperature protection for the hardware. Specifically, the +3.3V power supply is connected to ground via resistor R87 and thermistor RT1. Resistors R87 and RT1 are connected in series to form a voltage divider circuit, with the temperature sampling point TEMP located between resistor R87 and thermistor RT1. Based on the voltage divider principle, the voltage value obtained at the TEMP point changes with the resistance of thermistor RT1. The voltage signal at the TEMP point is transmitted to the main control chip U5A, where data processing is performed to obtain the corresponding PCB temperature value. When the PCB temperature reaches or exceeds a set protection point (e.g., 80°C), the corresponding protection action is triggered, such as issuing an alarm signal or reducing the system operating frequency, to prevent PCB damage due to overheating and ensure stable system operation. A capacitor C55 is connected in parallel across thermistor RT1. Capacitor C55 acts as a filter capacitor, filtering out high-frequency noise in the voltage value at the TEMP point, thereby ensuring a more stable collected voltage value.

[0037] Combine Figure 8 As shown, the bus voltage sampling and protection circuit of the present invention is a bus voltage sampling circuit based on resistor voltage division. It can convert the higher bus voltage into a low-voltage signal suitable for sampling and processing, while also providing certain filtering and clamping protection functions. Specifically, the bus input voltage 24 / 48V_IN is connected in series with resistors R94, R95, and R97. The other end of resistor R97 is grounded, and the voltage of resistor R97 is connected to the VDC sampling point through resistor R96. Resistor R96 provides certain current limiting and isolation functions, preventing the sampling point's back-end circuit from affecting the voltage divider network, ensuring the stability and accuracy of the sampled signal. The voltage signal at the VDC sampling point is transmitted to the main control chip U5A. By processing the voltage value at the VDC sampling point, the corresponding bus input voltage value can be obtained. In addition, capacitor C58 is connected in parallel between the VDC sampling point and ground, forming a filtering circuit, which makes the sampled voltage signal more stable and improves the stability of voltage sampling. Diode D14 has one end connected to the VDC sampling point and the other end connected to the +3.3V power supply, providing clamping protection. When the voltage at the VDC sampling point exceeds +3.3V due to an abnormal situation, diode D14 is turned on, clamping the voltage at the VDC sampling point to around 3.4V, preventing excessive voltage from entering the main control chip U5A, avoiding damage to sensitive components due to overvoltage, and ensuring the reliability and stability of the circuit.

[0038] Further, combined Figure 9As shown, the control voltage sampling protection circuit of the present invention includes resistors R86, R88, and R90, forming a voltage divider network. A +24V control voltage is applied to the input of resistor R86, while the output of resistor R90 is grounded. Based on the voltage-dividing principle of a series circuit, a smaller voltage proportional to the control voltage is generated across R90. The voltage across resistor R90 is connected to the VCC_24L sampling point via resistor R89. R89 provides current limiting and isolation, preventing the sampling point's back-end circuitry from affecting the voltage divider network and ensuring the stability and accuracy of the sampled signal. The voltage signal at VCC_24L is collected and processed by the main control module to produce the corresponding +24V control voltage value. Capacitor C56 is connected in parallel between the VCC_24L sampling point and ground, forming a filter circuit. Diode D13 has one end connected to the VCC_24L sampling point and the other end connected to the +3.3V power supply, providing clamping protection. When the voltage at the VCC_24L sampling point exceeds +3.3V due to an abnormal condition, diode D13 conducts, clamping the voltage at the VCC_24L sampling point to approximately 3.4V. This prevents excessive voltage from entering subsequent circuits, protecting sensitive components from damage due to excessive voltage and ensuring circuit reliability and stability.

[0039] It should be emphasized that the above are only preferred embodiments of the present invention and do not limit the present invention in any form. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A CAN bus-based electric drum control device, characterized in that: The invention comprises a main control module (1), a CAN communication module (2), an electric roller interface module (3) and a sensor interface module (4), wherein the CAN communication module (2) is connected to a host computer via a CAN bus; the main control module (1) comprises a main control chip U5A, wherein the main control chip U5A is connected to the CAN communication module (2); the electric roller interface module (3) comprises a plurality of electric roller interface modules, wherein the input end of each electric roller interface module (3) is connected to the main control chip U5A, and the output end is connected to the driving motor of the electric roller, and the electric roller speed control interface circuit (31) and the electric roller direction control interface circuit (32) are included; the sensor interface module (4) comprises a plurality of sensor interface modules, wherein the output end of each sensor interface module (4) is connected to the main control chip U5A, and the input end is connected to a sensor, and the sensor is used to feed back a signal collected by the sensor to the main control chip U5A, thereby controlling the rotation of the electric roller via the electric roller interface module (3).

2. The electric drum control device according to claim 1, characterized in that: It also includes a plurality of protection modules (5), the output end of each protection module (5) being connected to the main control chip U5A, and including a control voltage sampling protection circuit, a bus voltage sampling protection circuit, and a PCB temperature sampling protection circuit.

3. The electric drum control device according to claim 1, characterized in that: It also includes a plurality of alarm modules (6), each of which is in communication with the main control module and is used to feed back the electric roller alarm signal to the main control module.

4. The electric drum control device according to claim 1, characterized in that: It also includes an IP address editing module (7), the output end of which is connected to the main control module (1) and is used to configure an IP address for the electric roller control device, thereby realizing the integration of CAN equipment and Ethernet.

5. The electric drum control device according to claim 1, characterized in that: The CAN communication module (2) includes a transceiver chip U18, wherein the RXD pin of the transceiver chip U18 is connected to the CAN_RX pin of the main control chip U5A via a resistor R98, and the TXD pin of the transceiver chip U18 is connected to the CAN_TX pin of the main control chip U5A via a resistor R99; the CANH pin of the transceiver chip U18 is connected to the CANH interface via pins 1 and 2 of the common-mode inductor L3, and the CANL pin of the transceiver chip U18 is connected to the CAN_TX interface via pins 4 and 5 of the common-mode inductor L3. Pin 1 and pin 3 are connected to the CANL interface, and the CANH interface and the CANL interface are used to connect to the CAN bus; the 2-pin end of the common-mode inductor L3 is grounded via the TVS diode Z2, the 3-pin end of the common-mode inductor L3 is grounded via the TVS diode Z1, the 1-pin end of the common-mode inductor L3 is grounded via the resistor R101 and the capacitor C66, the 4-pin end of the common-mode inductor L3 is grounded via the resistor R100 and the capacitor C66, and a capacitor C59 is connected in parallel between the 1-pin end and the 4-pin end of the common-mode inductor L3.

6. The electric drum control device according to claim 1, characterized in that: One end of the input end of the electric drum speed control interface circuit is connected to the DSP_AO1 pin of the main control chip U5A, and the other end is connected to one end of the resistor R79 and the resistor R132 at the same time. The other end of the resistor R79 is grounded, and the other end of the resistor R132 is connected to the non-inverting end 3 pin of the operational amplifier U15A; the power supply +24V is connected to the 8th pin of the operational amplifier U15A and the capacitor C50 at the same time, and the other end of the capacitor C50 is grounded; the inverting end 2 pin of the operational amplifier U15A is connected to one end of the resistor R142 and the resistor R144 at the same time, and the resistor R142 is connected to the ground. The other end is grounded, and the other end of the resistor R144 is connected to the output terminal 1 pin of the operational amplifier U15A; the output terminal 1 pin of the operational amplifier U15A is connected to the capacitor C51 and the non-inverting terminal 5 pin of the operational amplifier U15B through the resistor R136, and the other end of the capacitor C51 and the pin 4 of the operational amplifier U15A are grounded; the inverting terminal 6 pin of the operational amplifier U15B is connected to the output terminal 7 pin of the operational amplifier U15B, and the output terminal 7 pin of the operational amplifier U15B is connected to the output end of the electric roller speed control interface circuit through the resistor R139.

7. The electric drum control device according to claim 6, characterized in that: The output end of the electric drum speed control interface circuit is connected to a voltage stabilizing diode D15 and a capacitor C52 at the same time, and the other ends of the voltage stabilizing diode D15 and the capacitor C52 are grounded.

8. The electric drum control device according to claim 1, characterized in that: One end of the input end of the electric drum direction control interface circuit is connected to the DSP_DO1 pin of the main control chip U5A, and the other end is connected to one end of the resistor R81 and the base of the NPN transistor Q9 through the resistor R77. The other end of the resistor R81 and the emitter of the NPN transistor Q9 are grounded. The collector of the NPN transistor Q9 is connected to one end of the resistor R74 and the 2nd pin of the photoelectric coupler U12 through the resistor R75. The power supply +5V is connected to the other end of the resistor R74 and the 1st pin of the photoelectric coupler U12 at the same time; the power supply +24 V is connected to the anode of the diode D2 through the resistor R60. The cathode of the diode D2 is simultaneously connected to the 4th pin of the photoelectric coupler U12, the collector of the NPN transistor Q8, the cathode of the diode D3 and one end of the resistor R71. The other end of the resistor R71 is connected to the output end of the electric drum direction control interface circuit. The anode of the diode D3 and the emitter of the NPN transistor Q8 are grounded. Pin 3 of the photoelectric coupler U12 is simultaneously connected to the base of the NPN transistor Q8 and one end of the resistor R78. The other end of the resistor R78 is grounded.

9. The electric drum control device according to claim 3, characterized in that: One end of the input end of the alarm module is connected to the external alarm trigger device, and the other end is connected to one end of the resistor R52 and the resistor R68. The other end of the resistor R52 is grounded. The other end of the resistor R68 is connected to one end of the resistor R61 and pin 1 of the photoelectric coupler U9. The other end of the resistor R61 is connected to one end of the resistor R49 and pin 2 of the photoelectric coupler U9. The other end of the resistor R49 is connected to D11. The power supply 3.3V is connected to the 4th pin of the photoelectric coupler U9 and the output end of the alarm module through the resistor R43. The output end of the alarm module is connected to the DSP_DI1 pin of the main control chip U5A. The 3rd pin of the photoelectric coupler U9 is grounded.

10. The electric drum control device according to claim 2, characterized in that: In the PCB temperature sampling protection circuit, one end of the resistor R87 is connected to the power supply +3.3V, and the other end is connected to the thermistor RT1. The other end of the thermistor RT1 is grounded. The temperature sampling point TEMP is located between the resistor R87 and the thermistor RT1. The two ends of the thermistor RT1 are connected in parallel to the capacitor C55.

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