Underpass maintenance robot circuit

Abstract

The embodiment of the utility model provides an underpass maintenance robot circuit, which comprises a central control circuit, a mechanical arm control circuit, a camera holder control circuit, a chassis control circuit and a man-machine interaction module, and is characterized in that the mechanical arm control circuit is connected with the central control circuit and is used for controlling a mechanical arm to move; the camera holder control circuit is connected with the central control circuit and is used for controlling the camera holder to move; the chassis control circuit is connected with the central control circuit and is used for controlling transportation of the chassis; and the man-machine interaction module is connected with the central control circuit. According to the robot, the camera holder control circuit, the mechanical arm control circuit and the chassis control circuit can be controlled through the man-machine interaction module, so that image information of the underpass can be obtained, driving of the robot and cleaning and clamping work of the mechanical arm are controlled, and therefore the underpass cleaning capacity of the robot can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline maintenance, and in particular to an underground tunnel maintenance robot circuit. Background Art

[0002] Underground tunnels are characterized by harsh environments, toxic gases, and cramped operating spaces, making them difficult for humans to perform manual operations. Inspection robots can detect blockages in real time and unclog them. However, some existing underground inspection robots have poor obstacle-crossing capabilities and are unable to clear debris. Others rely on cables for transmission, making them difficult to maneuver and ineffective in underground cleaning. Utility Model Content

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a circuit for an underground tunnel maintenance robot, aiming to improve the robot's underground tunnel maintenance capability.

[0004] In a first aspect, an embodiment of the present application provides an underground tunnel maintenance robot circuit, comprising:

[0005] Central control circuit;

[0006] A manipulator control circuit, connected to the central control circuit, for controlling the movement of the manipulator;

[0007] A camera pan / tilt control circuit, connected to the central control circuit, for controlling the movement of the camera pan / tilt;

[0008] a chassis control circuit, the chassis control circuit being connected to the central control circuit and being used to control chassis movement;

[0009] A human-computer interaction module is connected to the central control circuit.

[0010] According to some embodiments of the present application, the central control circuit includes:

[0011] Central controller, including multiple communication interfaces;

[0012] A communication module is connected to the central controller.

[0013] According to some embodiments of the present application, the human-computer interaction module includes:

[0014] A human-computer interaction controller, the human-computer interaction controller being communicatively connected with the central controller;

[0015] A human-computer interaction communication module is connected to the human-computer interaction controller.

[0016] According to some embodiments of the present application, the human-computer interaction module further includes:

[0017] A human-computer interaction display module is connected to the human-computer interaction controller.

[0018] According to some embodiments of the present application, the robotic arm control circuit includes:

[0019] A manipulator arm servo control circuit, wherein the manipulator arm servo control circuit is connected to the central control circuit;

[0020] The manipulator arm servo control circuit includes a first servo, a second servo, a third servo, a fourth servo and a fifth servo, and the first ends of the first servo, the second servo, the third servo, the fourth servo and the fifth servo are respectively connected to the central control circuit.

[0021] According to some embodiments of the present application, the camera pan / tilt control circuit includes:

[0022] A pan-tilt servo control circuit, the pan-tilt servo control circuit being connected to the central control circuit;

[0023] A camera connected to the pan / tilt servo control circuit and to the human-computer interaction module;

[0024] The pan-tilt servo control circuit includes a sixth servo and a seventh servo, and the first ends of the sixth servo and the seventh servo are respectively connected to the central control circuit.

[0025] According to some embodiments of the present application, the chassis control circuit includes:

[0026] A first motor drive module, a second motor drive module and a motor plug interface, the first motor drive module and the second motor drive module are respectively connected to the central control circuit, the motor plug interface is connected to the first motor drive module and the second motor drive module, and the motor plug interface is used to connect to the motor.

[0027] According to some embodiments of the present application, the underground tunnel maintenance robot circuit further includes:

[0028] a power supply module, the power supply module being connected to the central control circuit;

[0029] A voltage acquisition module is connected to the power module and is used to acquire the voltage of the power module and adjust the output voltage of the power module.

[0030] According to some embodiments of the present application, the underground tunnel maintenance robot circuit further includes:

[0031] A display module is connected to the central control circuit.

[0032] According to some embodiments of the present application, the underground tunnel maintenance robot circuit further includes:

[0033] A protection circuit, to which the first motor drive module, the second motor drive module and the central control circuit are respectively connected.

[0034] According to the technical solution of the embodiment of the present application, there are at least the following beneficial effects: the embodiment of the present application includes: a central control circuit, a robotic arm control circuit, a camera gimbal control circuit, a chassis control circuit, and a human-computer interaction module, wherein the robotic arm control circuit is connected to the central control circuit for controlling the movement of the robotic arm; the camera gimbal control circuit is connected to the central control circuit for controlling the movement of the camera gimbal; the chassis control circuit is connected to the central control circuit for controlling the transportation of the chassis; and the human-computer interaction module is connected to the central control circuit. The present application can control the camera gimbal control circuit, the robotic arm control circuit, and the chassis control circuit through the human-computer interaction module, thereby obtaining image information of the underpass and realizing the control of the robot's travel and the cleaning and gripping work of the robotic arm. Therefore, the present application can improve the robot's ability to clean the underpass. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of an underground tunnel inspection robot circuit provided by one embodiment of the present application;

[0036] Figure 2 is a schematic diagram of a central control circuit provided by one embodiment of the present application;

[0037] Figure 3 is a schematic diagram of a human-computer interaction module provided by one embodiment of the present application;

[0038] Figure 4 is a schematic diagram of a robotic arm control circuit provided by one embodiment of the present application;

[0039] Figure 5 This is a schematic diagram of a camera pan / tilt control circuit provided by one embodiment of the present application;

[0040] Figure 6 This is a schematic diagram of a pan / tilt servo control circuit provided by one embodiment of the present application;

[0041] Figure 7 is a schematic diagram of a chassis control circuit provided by one embodiment of the present application;

[0042] Figure 8is a schematic diagram of an underground tunnel maintenance robot circuit provided by another embodiment of the present application;

[0043] Figure 9 This is a schematic diagram of a protection circuit provided in one embodiment of the present application. DETAILED DESCRIPTION

[0044] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0045] In the description of this application, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships described in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0046] In the description of this application, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The terms "first" and "second" are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or as implicitly specifying the number or order of the technical features indicated.

[0047] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0048] Underground tunnels are characterized by harsh environments, toxic gases, and cramped operating spaces, making them difficult for humans to perform manual operations. Inspection robots can detect blockages in real time and unclog them. However, some existing underground inspection robots have poor obstacle-crossing capabilities and are unable to clear debris. Others rely on cables for transmission, making them difficult to maneuver and ineffective in underground cleaning.

[0049] Based on the above situation, an embodiment of the present application proposes an underground tunnel maintenance robot circuit, aiming to improve the robot's ability to clean the underground tunnel.

[0050] The various embodiments of the underground tunnel maintenance robot circuit of the present application are further described below in conjunction with the accompanying drawings.

[0051] like Figure 1As shown, Figure 1 This is a schematic diagram of the underground tunnel maintenance robot circuit provided by one embodiment of the present application.

[0052] In one embodiment, the underground tunnel inspection robot circuit of the present application includes a central control circuit 100, a robotic arm control circuit 200, a camera pan / tilt control circuit 300, a chassis control circuit 400 and a human-computer interaction module 500.

[0053] It should be noted that the robotic arm control circuit 200 is connected to the central control circuit 100 for controlling the movement of the robotic arm; the camera pan-tilt control circuit 300 is connected to the central control circuit 100 for controlling the movement of the camera pan-tilt; the chassis control circuit 400 is connected to the central control circuit 100 for controlling the movement of the chassis; and the human-computer interaction module 500 is connected to the central control circuit 100.

[0054] It should be noted that the central control circuit 100 can control the movement of the camera pan / tilt, so as to better obtain the information of the underground tunnel picture.

[0055] It should be noted that through the central control circuit 100, the human-computer interaction module 500 can display the picture of the underpass according to the information of the underpass picture, and control the robotic arm control circuit 200 and the chassis control circuit 400 according to the picture of the underpass, thereby controlling the robot's driving and controlling the cleaning and clamping work of the robotic arm.

[0056] In one embodiment, the camera pan-tilt control circuit 300 can obtain information about the underpass picture; then, the central control circuit 100 controls the movement of the camera pan-tilt, and the human-computer interaction module 500 can better obtain information about the underpass picture and display the picture of the underpass; then, the human-computer interaction module 500 controls the robotic arm control circuit 200 and the chassis control circuit 400 according to the picture of the underpass, thereby controlling the robot's driving and controlling the robotic arm's cleaning and clamping work.

[0057] It is worth noting that the present application can control the camera gimbal control circuit 300, the robotic arm control circuit 200 and the chassis control circuit 400 through the human-computer interaction module 500, thereby obtaining the image information of the underpass and realizing the control of the robot's driving and the cleaning and clamping work of the robotic arm. Therefore, the present application can improve the robot's ability to clean the underpass.

[0058] like Figure 2 As shown, Figure 2 This is a schematic diagram of a central control circuit provided in one embodiment of the present application.

[0059] In one embodiment, the central control circuit 100 of the present application includes a central controller 110 and a communication module 120 , wherein the central controller 110 includes multiple communication interfaces; and the communication module 120 is connected to the central controller 110 .

[0060] It should be noted that the central controller 110 can control the movement of the camera pan-tilt control circuit 300, so that the human-computer interaction module 500 can better obtain information about the underground tunnel.

[0061] It should be noted that the information of the underpass picture can be obtained through the camera pan-tilt control circuit 300; by controlling the movement of the camera pan-tilt control circuit 300 through the central controller 110, the human-computer interaction module 500 can better obtain the information of the underpass picture and display the picture of the underpass; then, the human-computer interaction module 500 controls the robotic arm control circuit 200 and the chassis control circuit 400 according to the picture of the underpass, thereby realizing the control of the robot's driving and the control of the robotic arm's cleaning and clamping work.

[0062] like Figure 3 As shown, Figure 3 This is a schematic diagram of a human-computer interaction module provided in one embodiment of the present application.

[0063] In one embodiment, the human-computer interaction module 500 of the present application includes a human-computer interaction controller 510 and a human-computer interaction communication module 520 . The human-computer interaction controller 510 is communicatively connected to the central controller 110 ; the human-computer interaction communication module 520 is connected to the human-computer interaction controller 510 .

[0064] It should be noted that, since the human-computer interaction controller 510 is in communication connection with the central controller 110 , data transmission can be achieved through the communication module 120 and the human-computer interaction communication module 520 .

[0065] It should be noted that the manipulator motion control instructions, camera pan-tilt control motion instructions and chassis motion control instructions can be obtained through the human-computer interaction controller 510; then, the manipulator motion control instructions, camera pan-tilt motion control instructions and chassis control motion instructions are output to the central controller 110; then, the robot is controlled to move according to the chassis control motion instructions, the manipulator movement is controlled according to the manipulator motion control instructions to complete the cleaning and clamping work, and the camera pan-tilt movement is controlled according to the camera pan-tilt motion control instructions so that the man-computer interaction controller 510 can obtain a better picture of the underground tunnel.

[0066] In addition, it should be noted that the human-computer interaction module 500 further includes a human-computer interaction display module 530 , wherein the human-computer interaction display module 530 is connected to the human-computer interaction controller 510 .

[0067] It should be noted that the human-computer interaction display module 530 can display the image of the underground tunnel obtained by the human-computer interaction controller 510, so that the human-computer interaction display module 530 can better control the movement of the camera pan and tilt to obtain better images of the underground tunnel, better control the driving of the robot and control the cleaning and clamping work of the robotic arm.

[0068] like Figure 4 As shown, Figure 4 This is a schematic diagram of a robotic arm control circuit provided in one embodiment of the present application.

[0069] In one embodiment, the manipulator control circuit 200 includes a manipulator servo control circuit, wherein the manipulator servo control circuit is connected to the central control circuit 100 .

[0070] It should be noted that the robotic arm servo control circuit includes a first servo 210, a second servo 220, a third servo 230, a fourth servo 240 and a fifth servo 250, wherein the first ends of the first servo 210, the second servo 220, the third servo 230, the fourth servo 240 and the fifth servo 250 are respectively connected to the central control circuit 100.

[0071] It should be noted that the robot arm motion control instructions received by the central control circuit 100 control the first servo 210, the second servo 220, the third servo 230, the fourth servo 240 and the fifth servo 250 of the robot arm servo control circuit to move at corresponding angles, thereby realizing the cleaning and clamping work.

[0072] In one embodiment, the human-computer interaction display module 530 can display the image of the underpass obtained by the human-computer interaction controller 510, so that the human-computer interaction controller 510 can obtain the robot arm motion control instructions, camera pan-tilt motion control instructions and chassis control motion instructions according to the image; then, the human-computer interaction controller 510 outputs the robot arm motion control instructions, camera pan-tilt motion control instructions and chassis control motion instructions to the central controller 110; then, the robot is controlled to move according to the chassis control motion instructions; according to the robot arm motion control instructions, the first servo 210, the second servo 220, the third servo 230, the fourth servo 240 and the fifth servo 250 of the robot arm servo control circuit are controlled to move at corresponding angles to complete the cleaning and clamping work; according to the camera pan-tilt motion control instructions, the camera pan-tilt movement is controlled to enable the human-computer interaction controller 510 to obtain a better picture of the underpass.

[0073] like Figure 5 As shown, Figure 5 This is a schematic diagram of a camera pan / tilt control circuit provided in one embodiment of the present application.

[0074] In one embodiment, the camera pan-tilt control circuit 300 includes a pan-tilt servo control circuit 310 and a camera 320 , wherein the pan-tilt servo control circuit 310 is connected to the central control circuit 100 ; the camera 320 is connected to the pan-tilt servo control circuit 310 and to the human-computer interaction module 500 .

[0075] It should be noted that the camera pan-tilt control motion instructions received by the central control circuit 100 control the movement of the pan-tilt servo control circuit 310, so that the camera 320 can better capture the picture of the underpass; since the camera 320 is connected to the human-computer interaction module 500, the human-computer interaction module 500 can obtain the picture of the underpass, and then display it in the human-computer interaction display module 530 in the human-computer interaction module 500, thereby better controlling the work of the robot.

[0076] like Figure 6 As shown, Figure 6 This is a schematic diagram of a gimbal servo control circuit provided in one embodiment of the present application.

[0077] In one embodiment, the pan / tilt servo control circuit 310 includes a sixth servo 311 and a seventh servo 312 . The first ends of the sixth servo 311 and the seventh servo 312 are respectively connected to the central control circuit 100 .

[0078] It should be noted that the camera pan-tilt control motion instructions received by the central control circuit 100 control the sixth servo 311 and the seventh servo 312 of the pan-tilt servo control circuit 310 to move at corresponding angles, so that the camera 320 can better capture the picture of the underpass; since the camera 320 is connected to the human-computer interaction module 500, the human-computer interaction module 500 can obtain the picture of the underpass, and then display it in the human-computer interaction display module 530 in the human-computer interaction module 500, thereby better controlling the work of the robot.

[0079] In one embodiment, the human-computer interaction display module 530 can display the image of the underpass captured by the camera 320 obtained by the human-computer interaction controller 510, so that the human-computer interaction controller 510 can obtain the robot arm motion control instructions, the camera pan-tilt motion control instructions and the chassis control motion instructions based on the image; then, the human-computer interaction controller 510 outputs the robot arm motion control instructions, the camera pan-tilt motion control instructions and the chassis control motion instructions to the central controller 110; then, the robot is controlled to move according to the chassis control motion instructions; according to the robot arm motion control instructions, the first servo 210, the second servo 220, the third servo 230, the fourth servo 240 and the fifth servo 250 of the robot arm servo control circuit are controlled to move at corresponding angles to complete the cleaning and clamping work; according to the camera pan-tilt motion control instructions, the sixth servo 311 and the seventh servo 312 of the pan-tilt servo control circuit 310 are controlled to move at corresponding angles so that the camera 320 can better capture the image of the underpass.

[0080] like Figure 7 As shown, Figure 7 This is a schematic diagram of a chassis control circuit provided in one embodiment of the present application.

[0081] In one embodiment, the chassis control circuit 400 includes a first motor drive module 410, a second motor drive module 420 and a motor plug interface 430, wherein the first motor drive module 410 and the second motor drive module 420 are respectively connected to the central control circuit 100, the motor plug interface is connected to the first motor drive module 410 and to the second motor drive module 420, and the motor plug interface is used to insert the motor.

[0082] It should be noted that the chassis control motion instruction received by the central control circuit 100 controls the operation of the first motor drive module 410 and the second motor drive module 420, thereby controlling the movement of the motors and further controlling the driving of the robot.

[0083] In one embodiment, the human-machine interaction display module 530 can display the image of the underpass captured by the camera 320 and obtained by the human-machine interaction controller 510, so that the human-machine interaction controller 510 can obtain the robot arm motion control instructions, the camera pan / tilt motion control instructions, and the chassis control motion instructions based on the image; then, the human-machine interaction controller 510 outputs the robot arm motion control instructions, the camera pan / tilt motion control instructions, and the chassis control motion instructions to the central controller 110; then, according to the chassis control motion instructions, the first motor drive module 410 and the second motor drive module 420 are controlled to operate, thereby controlling the motor movement and further controlling the robot's travel; according to the robot arm motion control instructions, the first servo 210, the second servo 220, the third servo 230, the fourth servo 240, and the fifth servo 250 of the robot arm servo control circuit are controlled to move at corresponding angles to complete the cleaning and clamping work; according to the camera pan / tilt motion control instructions, the sixth servo 311 and the seventh servo 312 of the pan / tilt servo control circuit 310 are controlled to move at corresponding angles to enable the camera 320 to better capture the image of the underpass.

[0084] like Figure 8 As shown, Figure 8 This is a schematic diagram of the underground tunnel maintenance robot circuit provided in another embodiment of the present application.

[0085] In one embodiment, the present application also includes a power supply module 600 and a voltage acquisition module 700, wherein the power supply module 600 is connected to the central control circuit 100; the voltage acquisition module 700 is connected to the power supply module 600, and is used to collect the voltage of the power supply module 600 and adjust the output voltage of the power supply module 600.

[0086] It should be noted that the power module 600 is used to provide power to the central control circuit 100 .

[0087] It should be noted that the voltage acquisition module 700 is used to collect the voltage of the power module 600 and adjust the output voltage of the power module 600 so that the output voltage of the power module 600 meets the voltage reading range of the analog-to-digital converter (ADC) in the central controller 110.

[0088] In addition, it should be noted that the underground tunnel maintenance robot circuit also includes a display module 800 , wherein the display module 800 is connected to the central control circuit 100 .

[0089] It should be noted that the display module can display the current voltage read by the ADC, so that the operator can understand the remaining power of the robot in real time through the display module, which is convenient for the operator to make reasonable control according to the actual circuit of the robot.

[0090] It should be noted that the current voltage read by the ADC can also be displayed in the human-machine interaction display module 530, so that the operator can understand the current remaining power of the robot in real time, which is convenient for the operator to make reasonable control according to the actual circuit of the robot.

[0091] In addition, it should be noted that the underground tunnel maintenance robot circuit also includes a protection circuit 900.

[0092] like Figure 9 As shown, Figure 9 This is a schematic diagram of a protection circuit provided in one embodiment of the present application.

[0093] In one embodiment, the first motor driving module 410 , the second motor driving module 420 , and the central control circuit 100 are respectively connected to the protection circuit 900 .

[0094] It should be noted that the first motor drive module 410, the second motor drive module 420 and the central control circuit 100 are respectively connected to the protection circuit 900, thereby isolating and protecting the central control circuit 100 to prevent the central control circuit 100 from being burned due to excessive motor rotation current or reverse current caused by chip breakdown of the first drive circuit or the second drive circuit.

[0095] It is understandable that the above-mentioned display module 800 can be an LCD display module, an OLED display module, or a TFT-LCD display module, and the embodiments of the present application do not impose any specific restrictions on them.

[0096] It can be understood that the above-mentioned communication module 120 can be a LoRa communication module, an NB-IoT communication module, or a ZigBee communication module, and the embodiments of the present application do not impose specific restrictions on it.

[0097] It can be understood that the above-mentioned human-computer interaction communication module 520 can be a LoRa communication module, an NB-IoT communication module, or a ZigBee communication module, and the embodiments of the present application do not impose specific restrictions on it.

[0098] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present application, and these equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. An underground tunnel maintenance robot circuit, characterized in that: include: Central control circuit; A robot arm control circuit, the robot arm control circuit is connected to the central control circuit and is used to control the movement of the robot arm; A camera pan / tilt control circuit, which is connected to the central control circuit and is used to control the movement of the camera pan / tilt; A chassis control circuit, the chassis control circuit is connected to the central control circuit and is used to control the movement of the chassis; A human-computer interaction module is connected to the central control circuit.

2. The underground tunnel maintenance robot circuit according to claim 1 is characterized in that: The central control circuit comprises: A central controller, including multiple communication interfaces; A communication module is connected to the central controller.

3. The underground tunnel maintenance robot circuit according to claim 2 is characterized in that: The human-computer interaction module comprises: A human-computer interaction controller, the human-computer interaction controller is communicatively connected with the central controller; A human-computer interaction communication module is connected to the human-computer interaction controller.

4. The underground tunnel maintenance robot circuit according to claim 3 is characterized in that: The human-computer interaction module also includes: A human-computer interaction display module is connected to the human-computer interaction controller.

5. The underground tunnel maintenance robot circuit according to claim 1, characterized in that: The robot arm control circuit comprises: A manipulator arm steering gear control circuit, wherein the manipulator arm steering gear control circuit is connected to the central control circuit; Wherein, the manipulator arm servo control circuit includes a first servo, a second servo, a third servo, a fourth servo and a fifth servo, and the first ends of the first servo, the second servo, the third servo, the fourth servo and the fifth servo are respectively connected to the central control circuit.

6. The underground tunnel maintenance robot circuit according to claim 1, characterized in that: The camera pan / tilt control circuit comprises: A pan-tilt servo control circuit, wherein the pan-tilt servo control circuit is connected to the central control circuit; A camera, the camera is connected to the pan / tilt servo control circuit and to the human-computer interaction module; The pan / tilt servo control circuit includes a sixth servo and a seventh servo, and the first ends of the sixth servo and the seventh servo are respectively connected to the central control circuit.

7. The underground tunnel maintenance robot circuit according to claim 1, characterized in that: The chassis control circuit comprises: A first motor drive module, a second motor drive module and a motor plug interface, the first motor drive module and the second motor drive module are respectively connected to the central control circuit, the motor plug interface is connected to the first motor drive module and to the second motor drive module, and the motor plug interface is used to connect the motor.

8. The underground tunnel maintenance robot circuit according to claim 1, characterized in that: The underground tunnel maintenance robot circuit also includes: A power module, the power module is connected to the central control circuit; A voltage acquisition module, the voltage acquisition module is connected to the power module, and is used to acquire the voltage of the power module and adjust the output voltage of the power module.

9. The underground tunnel maintenance robot circuit according to claim 1, characterized in that: The underground tunnel maintenance robot circuit also includes: A display module is connected to the central control circuit.

10. The underground tunnel maintenance robot circuit according to claim 7, characterized in that: The underground tunnel maintenance robot circuit also includes: A protection circuit, wherein the first motor driving module, the second motor driving module and the central control circuit are respectively connected to the protection circuit.

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