ARM-based embedded mine inspection robot control system

Abstract

The utility model discloses an ARM-based embedded mine inspection robot control system, which comprises an upper computer, an ARM control system, a communication acquisition system, a motion control system, a relay control system and a display system, and is characterized in that the upper computer comprises a flat plate, a platform and a remote controller and controls the inspection robot to move in various wireless control modes; meanwhile, environment data under the mine and state information data of the inspection robot are collected, and accurate control over the mine inspection robot is achieved.

Description

Technical Field

[0001] The utility model belongs to the field of mine inspection robots, and more specifically, relates to an ARM-based embedded mine inspection robot control system. Background Art

[0002] The working environment of coal mines is complex, the space is small, the equipment is densely arranged, and there are many obstructions and interferences to the signal. If a single control signal is used, it is more likely to have packet loss and other faults. For the production safety of coal mining operations, it is necessary to provide a control system for an inspection robot for underground working faces in mines to achieve accurate control of the inspection robot underground. Utility Model Content

[0003] In order to solve the above problems, the utility model provides an ARM-based embedded mine inspection robot control system, which controls the movement of the inspection robot through a host computer in multiple wireless ways, and simultaneously collects the underground mine environment data and the inspection robot's own status information data to achieve accurate control of the inspection robot.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a control system of a mine inspection robot based on an ARM embedded system, which includes a host computer, an ARM control system, a communication acquisition system, a motion control system, a relay control system and a display system; the ARM control system, the communication acquisition system, the motion control system, the relay control system and the display system are all installed on the mine inspection robot.

[0005] Furthermore, the host computer includes a tablet, a platform, and a remote control. The remote control communicates with the ARM control system through a LoRa wireless communication module, and the tablet and the platform communicate with the ARM control system through a UART to WiFi wireless communication module.

[0006] Furthermore, the ARM control system adopts an STM32F429 chip based on an ARM Cortex-M4 core.

[0007] Furthermore, the communication acquisition system includes a posture sensor, an ultrasonic radar sensor, a smoke sensor, a methane sensor and a lithium battery BMS management module; the posture sensor is connected to the ARM control system through an IIC bus; the ultrasonic radar sensor is connected to the ARM control system through an RS485 bus; the smoke sensor and the methane sensor are connected to the ARM control system through an RS485 bus; the lithium battery BMS management module is connected to the ARM control system through a CAN bus.

[0008] Furthermore, the motion control system includes a motor drive controller and a motor; the motor drive controller is connected to the ARM control system via a CAN bus and communicates via a CANOpen protocol.

[0009] Furthermore, the relay control system is connected to the ARM control system.

[0010] Furthermore, the display system includes a serial port display screen and an alarm indicator light, which are respectively connected to the ARM control system via an RS232 bus.

[0011] The implementation of the utility model based on an ARM embedded mine inspection robot control system has the following beneficial effects:

[0012] 1. Multiple control modes ensure reliable control of mine inspection robots;

[0013] 2. Taking full advantage of ARM's fast processing speed and rich interfaces, it improves the integration of the control system and realizes accurate control of the mine inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The utility model is a control system block diagram of an ARM-based embedded mine inspection robot.

[0015] Figure 2 The utility model is a communication connection block diagram of an ARM-based embedded mine inspection robot. DETAILED DESCRIPTION

[0016] The technical solution of the utility model is further explained below in conjunction with the accompanying drawings.

[0017] like Figure 1 As shown, a control system for an ARM-based embedded mine inspection robot includes a host computer, an ARM control system, a communication collection system, a motion control system, a relay control system and a display system. The host computer communicates with the ARM control system through the wireless communication LoRa module and the WiFi module. The host computer sends instructions to the ARM control system to control the motion control system and the relay control system to control the movement of the mine inspection robot and the front and rear light switches. At the same time, the communication collection system collects the underground mine environment data, the battery status of the inspection robot and the status information of the inspection robot. When the environmental data collected by the communication collection system is higher than the set threshold or an obstacle is detected, the ARM control system controls the mine inspection robot to stop moving and reports it to the display system for display. When the communication collection system collects that the battery power of the inspection robot is lower than the set threshold, it is reported to the display system for display, and the alarm indicator light alarms.

[0018] The ARM control system uses the STM32F429 chip based on the ARM Cortex-M4 core. The STM32F429 has rich internal resources and external expansion functions, and is widely used in industrial control, automotive electronics, medical equipment and other industries.

[0019] The communication acquisition system includes attitude sensors, ultrasonic radar sensors, smoke sensors, methane sensors and lithium battery BMS management modules; the attitude sensor is connected to the ARM control system through the IIC bus to obtain the attitude and acceleration data of the inspection robot in real time, which is used to realize the direction adjustment of the inspection robot; the ultrasonic radar sensor is connected to the ARM control system through the RS485 bus to measure the distance of obstacles around the inspection robot in real time, which is used to realize the automatic obstacle avoidance of the inspection robot; the smoke sensor and methane sensor are connected to the ARM control system through the RS485 bus, the smoke sensor is used to collect the smoke concentration in the mine, and the methane sensor is used to collect the methane concentration in the mine; the lithium battery BMS management module is connected to the ARM control system through the CAN bus to collect the battery voltage, current, power and battery status data of the inspection robot in real time.

[0020] In this embodiment, smoke sensors and methane sensors are used to collect real-time environmental data information in the mine, and the collected data is compared with a preset threshold. When the environmental data in the mine is higher than the set threshold, the ARM control system controls the alarm indicator light in the display system to sound an alarm, and at the same time uploads it to the host computer and display system for display, reminding workers that it is not suitable to work underground at this time.

[0021] The motion control system includes a motor drive controller and a motor; the motor drive controller is connected to the ARM control system through the CAN bus, the motor drive controller receives the control signal from the ARM control system, controls the motor driver to drive the motor action through the kinematic algorithm, and realizes the motion control of the mine inspection robot.

[0022] The relay control system is connected to the ARM control system, receives the control signal sent by the ARM control system, and controls the front and rear light switches of the mine inspection robot according to the control signal.

[0023] The display and reporting system includes a serial port display screen and an alarm indicator light, which is connected to the ARM control system through the RS232 bus to display the collected values ​​of each sensor, the working status of the inspection robot itself, and control the alarm indicator light alarm in real time.

[0024] The host computer includes a tablet, a platform, and a remote control. It communicates with the ARM control system through the LoRa communication module and the WiFi wireless communication module to realize the motion control of the mine inspection robot and receive and upload the data information of the mine inspection robot for display.

[0025] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from them are still within the scope of protection of the present utility model.

Claims

1. A mine inspection robot control system based on ARM embedded system, which includes a host computer, an ARM control system, a communication acquisition system, a motion control system, a relay control system and a display system, characterized in that: The ARM control system, communication acquisition system, motion control system, relay control system and display system are all installed on the mine inspection robot.

2. The ARM-based embedded mine inspection robot control system according to claim 1 is characterized in that: The host computer includes a tablet, a platform, and a remote control. The remote control communicates with the ARM control system through a LoRa wireless communication module, and the tablet and the platform communicate with the ARM control system through a UART to WiFi wireless communication module.

3. The ARM-based embedded mine inspection robot control system according to claim 1 is characterized in that: The ARM control system adopts the STM32F429 chip based on the ARM Cortex-M4 core.

4. The ARM-based embedded mine inspection robot control system according to claim 1 is characterized in that: The communication acquisition system includes a posture sensor, an ultrasonic radar sensor, a smoke sensor, a methane sensor and a lithium battery BMS management module. The posture sensor is connected to the ARM control system through an IIC bus, the ultrasonic radar sensor is connected to the ARM control system through an RS485 bus, the smoke sensor and the methane sensor are connected to the ARM control system through an RS485 bus, and the lithium battery BMS management module is connected to the ARM control system through a CAN bus.

5. The ARM-based embedded mine inspection robot control system according to claim 1 is characterized in that: The motion control system comprises a motor drive controller and a motor. The motor drive controller is connected to the ARM control system via a CAN bus and communicates via a CANOpen protocol.

6. The ARM-based embedded mine inspection robot control system according to claim 1 is characterized in that: The relay control system is connected to the ARM control system.

7. The ARM-based embedded mine inspection robot control system according to claim 1 is characterized in that: The display system includes a serial port display screen and an alarm indicator light, which are respectively connected to the ARM control system via an RS232 bus.

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