Disinfection robot control system based on ARM controller

Abstract

The utility model discloses a disinfection robot control system based on an ARM controller, and the system comprises the ARM controller which is provided with a plurality of I / O interfaces; the industrial personal computer is in communication connection with the ARM controller based on an RS232 serial port; a sensor module group, wherein the sensor module group is connected with the ARM controller; a peripheral module, wherein the peripheral module is connected with the ARM controller; and the power supply module is connected with the ARM controller, and the power supply module is used for providing electric energy for the ARM controller. The ARM controller is adopted as a control core, a large number of I / O interfaces are arranged, a part of vacant I / O interfaces are reserved while various sensor modules and peripheral modules can be connected, expansibility and universality are high, functional requirements of specific types of disinfection robots are met, and control efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot control, in particular to a disinfection robot control system based on an ARM controller. Background Art

[0002] Disinfection robots are a type of intelligent service robots developed to disinfect bacteria and viruses in the air and on the surface of objects. They are usually based on a wheeled or tracked mobile chassis, equipped with a physical factor disinfection device or a chemical factor disinfection device. Some advanced disinfection robots also have practical functions such as temperature detection, face recognition, and human-computer dialogue. At present, research on disinfection service robots at home and abroad has reached a certain breadth and depth, and various physical and chemical disinfection methods have been well applied to actual products. The functions of disinfection service robots are becoming more and more abundant, but correspondingly, the current control system for disinfection robots is not expandable enough and has poor versatility, and cannot meet the functional requirements of specific types of disinfection robots. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the prior art. The utility model provides a disinfection robot control system based on an ARM controller, which adopts the ARM controller as the control core and is equipped with a large number of I / O interfaces. While being able to be used to connect various sensor modules and peripheral modules, a part of vacant I / O interfaces is reserved, which has strong expandability and versatility, can meet the functional requirements of specific types of disinfection robots, and improve control efficiency.

[0004] The utility model provides a disinfection robot control system based on an ARM controller, the control system comprising:

[0005] An ARM controller, wherein the ARM controller is provided with a plurality of I / O interfaces;

[0006] An industrial computer, the industrial computer is connected to the ARM controller through a RS232 serial port;

[0007] A sensor module, wherein the sensor module is connected to the I / O interface of the ARM controller;

[0008] A peripheral module, the peripheral module is connected to the I / O interface of the ARM controller;

[0009] A power supply module, the power supply module is connected to the I / O interface of the ARM controller, and the power supply module is used to provide electrical energy to the ARM controller.

[0010] Furthermore, the sensor module includes an ultrasonic sensor module, and the ultrasonic sensor module is connected to the I / O interface of the ARM controller.

[0011] Furthermore, the sensor module also includes a liquid level sensor module, and the liquid level sensor module is connected to the I / O interface of the ARM controller.

[0012] Furthermore, the peripheral module includes an atomization module, and the atomization module is connected to the I / O interface of the ARM controller.

[0013] Furthermore, the peripheral module also includes a servo driver and a servo motor, the servo driver is connected to the I / O interface of the ARM controller, and the servo motor is connected to the servo driver.

[0014] Furthermore, the peripheral module also includes an indicator light module, and the indicator light module is connected to the I / O interface of the ARM controller based on SPI communication.

[0015] Furthermore, the control system also includes an extended output module, and the extended output module is connected to the I / O interface of the ARM controller.

[0016] Furthermore, the peripheral module also includes a liquid pump module, and the liquid pump module is connected to the I / O interface of the ARM controller.

[0017] Furthermore, the industrial computer is provided with an industrial control screen and a radar.

[0018] Furthermore, the power supply module is a 48V power battery power supply.

[0019] The utility model provides a disinfection robot control system based on an ARM controller, which adopts the ARM controller as the control core and is equipped with a large number of I / O interfaces. While being able to be used to connect various sensor modules and peripheral modules, a part of vacant I / O interfaces is reserved, so the control system has strong expandability and versatility, and is equipped with sensor modules and peripheral modules, as well as extended output modules, so as to improve expandability, meet the functional requirements of specific types of disinfection robots, and enhance control efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a module schematic diagram of a disinfection robot control system based on an ARM controller in an embodiment of the utility model;

[0022] Figure 2 It is a schematic diagram of the structure of the ARM controller in the embodiment of the utility model;

[0023] Figure 3 This is a first schematic diagram of electrical connections of a disinfection robot control system based on an ARM controller in an embodiment of the present utility model;

[0024] Figure 4 This is the second schematic diagram of the electrical connection of the disinfection robot control system based on the ARM controller in the embodiment of the utility model. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] An embodiment of the utility model provides a disinfection robot control system based on an ARM controller, the control system includes an ARM controller, an industrial computer, a sensor module, a peripheral module, and a power module. The ARM controller is provided with several I / O interfaces, the ARM controller is used to control the disinfection robot to work, the industrial computer is communicated with the ARM controller based on an RS232 serial port, the sensor module is connected to the I / O interface of the ARM controller, the peripheral module is connected to the I / O interface of the ARM controller, the power module is connected to the ARM controller, the power module is connected to the I / O interface of the ARM controller, and the power module is used to provide power to the ARM controller.

[0027] In an optional implementation of this embodiment, Figure 1 As shown, Figure 1 A module schematic diagram of a disinfection robot control system based on an ARM controller in an embodiment of the utility model is shown.

[0028] In an optional implementation of this embodiment, the industrial computer is used to generate work instructions and transmit them to the ARM controller based on the RS232 serial port; the sensor module is used to collect work data and transmit it to the ARM controller; the peripheral module is used to receive control instructions from the ARM controller to perform work.

[0029] In an optional implementation of this embodiment, the industrial computer includes an industrial control screen and a radar, the radar is used to receive the sensor data sent by the ARM controller, and the industrial control screen is used to display the sensor data sent by the ARM controller.

[0030] In an optional implementation of this embodiment, the sensor module includes an ultrasonic sensor module, and the ultrasonic sensor module is connected to the I / O interface of the ARM controller.

[0031] Specifically, the ultrasonic sensor module includes a first ultrasonic sensor module and a second ultrasonic sensor module, the first ultrasonic sensor module is used to detect obstacles within a certain distance within an angle range of 60° in one direction, and the second ultrasonic sensor module is used to detect obstacles within a certain distance within an angle range of 60° in the opposite direction.

[0032] Furthermore, the first ultrasonic sensor module and the second ultrasonic sensor module are a one-to-four ultrasonic sensor module.

[0033] In an optional implementation of this embodiment, the sensor module also includes a liquid level sensor module, and the liquid level sensor module is connected to the I / O interface of the ARM controller.

[0034] Specifically, the liquid level sensing module includes a first liquid level sensing module and a second liquid level sensing module, and the first liquid level sensing module and the second liquid level sensing module are used to monitor the liquid level height of the disinfectant in the disinfectant storage tank, wherein the first liquid level sensing module is used to monitor the low liquid level of the disinfectant storage tank, and the second liquid level sensing module is used to monitor the high liquid level of the disinfectant storage tank.

[0035] In an optional implementation of this embodiment, the peripheral module includes a liquid pump module, and the liquid pump module is connected to the I / O interface of the ARM controller.

[0036] Specifically, the liquid pump module is used to pump out the disinfectant in the disinfectant storage tank.

[0037] In an optional implementation of this embodiment, the peripheral module includes an atomization module, and the atomization module is connected to the I / O interface of the ARM controller.

[0038] Specifically, the atomization module includes a first atomizer and a second atomizer, any one of the atomizers includes an atomizing fan, and the first atomizer and the second atomizer are used to atomize the disinfectant pumped out by the liquid pump module and then spray it out.

[0039] It should be noted that a first relay is provided between the first atomizer and the ARM controller, and the first relay controls the operation of the first atomizer. A second relay is provided between the second atomizer and the ARM controller, and the second relay controls the operation of the second atomizer.

[0040] In an optional implementation of this embodiment, the peripheral module further includes a servo driver and a servo motor, the servo driver is connected to the I / O interface of the ARM controller, and the servo motor is connected to the servo driver.

[0041] Specifically, the servo driver receives the control instruction sent by the ARM controller, and drives and controls the servo motor, and the servo motor is used to drive the wheels of the disinfection robot to move.

[0042] In an optional implementation of this embodiment, the peripheral module further includes an indicator light module, and the indicator light module is connected to the I / O interface of the ARM controller based on SPI communication.

[0043] Specifically, the indicator light module includes a left light bar, a right light bar and a power indicator light, and the indicator light module is used to indicate the working status of the disinfection robot.

[0044] In an optional implementation of this embodiment, the power supply module is a 48V power battery power supply.

[0045] In an optional implementation of this embodiment, a third relay is provided between the ARM controller and the power module, and the third relay controls the charging action of the power module to the ARM controller.

[0046] Furthermore, a DC / DC conversion module is provided between the ARM controller and the power module, and the DC / DC conversion module is used to step down the 48V voltage input by the power module into a 12V voltage.

[0047] In an optional implementation of this embodiment, Figure 2 As shown, Figure 2A structural schematic diagram of the ARM controller in an embodiment of the utility model is shown, and the ARM controller is provided with 35 I / O interfaces, namely CAN interface, COM5 interface, COM4 interface, COM3 interface, COM2 interface, COM1 interface, PM1 interface, PM2 interface, PM3 interface, PM4 interface, JRDL interface, JRDR interface, AI2 interface, AI1 interface, Pwr interface, P06 interface, P05 interface, P04 interface, P03 interface, P02 interface, P01 interface, U16 interface, US_F interface, US_R interface, OEXT interface, EDIN interface, DIPE interface, DIN1 interface, DIN2 interface, DIN3 interface, DIN4 interface, DIN5 interface, DIN6 interface, DIN7 interface, and DIN8 interface.

[0048] Specifically, the CAN interface includes three pins, wherein pin 2 and pin 3 are connected to the servo driver for communication with the servo driver.

[0049] Furthermore, the COM5 interface includes four pins, wherein pin 2 is connected to the first ultrasonic sensor module, and communicates with the first ultrasonic sensor module based on RS485 serial port communication, and pin 3 is connected to the second ultrasonic sensor module, and communicates with the second ultrasonic sensor module based on RS485 serial port communication.

[0050] Furthermore, the COM4 interface includes four pins, wherein pins 2 and 3 are connected to the power module, and are communicated with the power module based on RS485 serial port communication.

[0051] Furthermore, the COM3 interface includes four pins, wherein pins 2 and 3 are reserved for the RS232 interface.

[0052] Furthermore, the COM2 interface includes three pins, wherein pins 2 and 3 are reserved for the RS232 interface.

[0053] Furthermore, the COM1 interface includes three pins, and pins 1, 2, and 3 are connected to the industrial computer, and are connected to the industrial computer based on RS232 serial port communication.

[0054] Furthermore, the PM1 interface includes three pins, and pins 1, 2, and 3 are reserved vacant I / O output interfaces.

[0055] Furthermore, the PM2 interface includes three pins, and pins 1, 2, and 3 are reserved vacant I / O output interfaces.

[0056] Furthermore, the PM3 interface includes three pins, and pins 1, 2, and 3 are reserved vacant I / O output interfaces.

[0057] Furthermore, the PM4 interface includes three pins, and pins 1, 2, and 3 are reserved vacant I / O output interfaces.

[0058] Furthermore, the JRDL interface includes three pins, and pins 1, 2, and 3 are connected to the left light bar for driving the left light bar to work.

[0059] Furthermore, the JRDR interface includes three pins, and pins 1, 2, and 3 are connected to the right light bar to drive the right light bar to work.

[0060] Furthermore, the AI2 interface includes two pins, and pins 1 and 2 are reserved vacant I / O interfaces.

[0061] Furthermore, the AI1 interface includes two pins, and pin 2 is connected to the power module for AD sampling of the charging voltage from the power module to the ARM controller.

[0062] Furthermore, the Pwr interface includes two pins, and pins 1 and 2 are power supply terminals of the ARM controller.

[0063] Furthermore, the P06 interface includes two pins, and pins 1 and 2 are connected to the third relay for controlling the operation of the third relay.

[0064] Furthermore, the P05 interface includes two pins, and pins 1 and 2 are connected to the indicator light module for controlling the operation of the power indicator light.

[0065] Furthermore, the P04 interface includes two pins, and pins 1 and 2 are reserved vacant output voltage control pins.

[0066] Furthermore, the P03 interface includes two pins, and pins 1 and 2 are reserved vacant output voltage control pins.

[0067] Furthermore, the P02 interface includes two pins, and pins 1 and 2 are connected to the first relay for controlling the operation of the first relay.

[0068] Furthermore, the P01 interface includes two pins, and pins 1 and 2 are connected to the second relay for controlling the operation of the second relay.

[0069] Furthermore, the U16 interface includes six pins, and pins 1, 2, 3, 4, 5, and 6 are reserved as vacant wireless transmission interfaces.

[0070] Furthermore, the US_F interface includes seven pins, and pins 1, 2, 3, 4, 5, 6, and 7 are reserved as vacant ultrasonic sensor module interfaces.

[0071] Furthermore, the US_R interface includes seven pins, and pins 1, 2, 3, 4, 5, 6, and 7 are reserved as vacant ultrasonic sensor module interfaces.

[0072] Furthermore, the OEXT interface includes six pins, and pins 1, 2, 3, 4, 5, and 6 are connected to the interface of the extended output module for communication connection with the extended output interface.

[0073] Furthermore, the EDIN interface includes five pins, and pins 1, 2, 3, 4, and 5 are reserved for vacant expansion input module interfaces.

[0074] Furthermore, the DIPE interface includes three pins, pin 1 is connected to the common end of the power button & emergency stop button of the disinfection robot, pin 2 is used to detect whether the power button of the disinfection robot is pressed, and pin 3 is used to detect whether the emergency stop button of the disinfection robot is pressed.

[0075] Furthermore, the DIN1 interface includes three pins, and pins 1, 2, and 3 are reserved vacant I / O input interfaces.

[0076] Furthermore, the DIN2 interface includes three pins, and pins 1, 2, and 3 are reserved vacant I / O input interfaces.

[0077] Furthermore, the DIN3 interface includes three pins, and pins 1, 2, and 3 are connected to the first liquid level sensor module for monitoring the low liquid level of the disinfectant storage tank.

[0078] Furthermore, the DIN4 interface includes three pins, and pins 1, 2, and 3 are connected to the second liquid level sensor module for monitoring the high liquid level of the disinfectant storage tank.

[0079] Furthermore, the DIN5 interface includes three pins, and pins 1, 2, and 3 are reserved vacant I / O input interfaces.

[0080] Furthermore, the DIN6 interface includes three pins, and pins 1, 2, and 3 are reserved vacant I / O input interfaces.

[0081] Furthermore, the DIN7 interface includes three pins, and pins 1, 2, and 3 are reserved vacant I / O input interfaces.

[0082] Furthermore, the DIN8 interface includes three pins, and pins 1, 2, and 3 are reserved vacant I / O input interfaces.

[0083] In an optional implementation of this embodiment, the control system further includes an extended output module (EDO module), and the extended output module is connected to the ARM controller.

[0084] Specifically, the extended output module is provided with six interfaces, namely, a PIN interface, an IDO interface, a P04 interface, a P03 interface, a P02 interface, and a P01 interface.

[0085] Specifically, the PIN interface includes two pins, and pins 1 and 2 are power supply terminals of the extended output module.

[0086] Furthermore, the IDO interface includes six pins, and pins 1, 2, 3, 4, 5, and 6 are expansion interfaces connected to the OEXT interface of the ARM controller for communication with the ARM controller.

[0087] Furthermore, the P04 interface includes six pins, and pins 1, 2, 3, 4, 5, and 6 are reserved for vacant module output voltage control interfaces.

[0088] Furthermore, the P03 interface includes six pins, and pins 1, 2, 3, 4, 5, and 6 are reserved for vacant module output voltage control interfaces.

[0089] Furthermore, the P02 interface includes six pins, pin 2 is the output negative voltage control pin of the liquid pump module, and pin 5 is the output positive voltage control pin of the liquid pump module.

[0090] Furthermore, the P01 interface includes six pins, pin 2 is the output negative voltage control pin of the atomization module, pin 2 is the output positive voltage control pin of the liquid pump module, pin 5 is the output negative voltage control pin of the industrial computer, and pin 6 is the output positive voltage control pin of the industrial computer.

[0091] In an optional implementation of this embodiment, Figure 3 and Figure 4 As shown, Figure 3 This is the first schematic diagram of the electrical connection of the disinfection robot control system based on the ARM controller in the embodiment of the utility model. Figure 4 This is the second schematic diagram of the electrical connection of the disinfection robot control system based on the ARM controller in the embodiment of the utility model.

[0092] It should be noted that the output voltage of the ARM controller is equal to the supply voltage of the power module.

[0093] Preferably, the output voltage of the power module is 48V and the supply voltage is 12V.

[0094] Working principle: The industrial computer, sensor module, peripheral module, and power module are connected to the corresponding I / O interfaces of the ARM controller respectively;

[0095] When starting to work, the industrial computer sends a work instruction to the COM1 interface of the ARM controller based on RS232 serial port communication. After receiving the work instruction, the ARM controller collects the sensor data of the sensor module based on RS485 serial port communication, including the sensor data of the ultrasonic sensor module and the liquid level sensor module, generates control instructions after processing, and sends them to the peripheral modules, including the atomization module, servo driver, indicator light module, and liquid pump module, and controls the peripheral modules to work, and at the same time sends the collected sensor data back to the industrial computer for monitoring;

[0096] In addition, an extended output module is also provided to control the output voltage of each component.

[0097] In addition, a large number of control I / O interfaces are reserved for connecting more sensor modules and peripheral modules.

[0098] In summary, the embodiment of the utility model proposes a disinfection robot control system based on an ARM controller, which adopts an ARM controller as the control core and is equipped with a large number of I / O interfaces. While being able to be used to connect various sensor modules and peripheral modules, a part of vacant I / O interfaces is reserved, which has strong expandability and versatility. Sensor modules and peripheral modules are provided, and extended output modules are also provided to improve expandability, meet the functional requirements of specific types of disinfection robots, and improve control efficiency.

[0099] The above is a detailed introduction to a disinfection robot control system based on an ARM controller provided by an embodiment of the utility model. This article uses specific examples to illustrate the principles and implementation methods of the utility model. The description of the above embodiments is only used to help understand the method of the utility model and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the utility model, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the utility model.

Claims

1. A disinfection robot control system based on an ARM controller, characterized in that: The control system comprises: An ARM controller, wherein the ARM controller is provided with a plurality of I / O interfaces; An industrial computer, the industrial computer is connected to the ARM controller through a RS232 serial port; A sensor module, wherein the sensor module is connected to the I / O interface of the ARM controller; A peripheral module, the peripheral module is connected to the I / O interface of the ARM controller; A power supply module, the power supply module is connected to the I / O interface of the ARM controller, and the power supply module is used to provide electrical energy to the ARM controller.

2. The disinfection robot control system according to claim 1, characterized in that: The sensor module includes an ultrasonic sensor module, and the ultrasonic sensor module is connected to the I / O interface of the ARM controller.

3. The disinfection robot control system according to claim 1, characterized in that: The sensor module also includes a liquid level sensor module, and the liquid level sensor module is connected to the I / O interface of the ARM controller.

4. The disinfection robot control system according to claim 1, characterized in that: The peripheral module includes an atomization module, and the atomization module is connected to the I / O interface of the ARM controller.

5. The disinfection robot control system according to claim 1, characterized in that: The peripheral module also includes a servo driver and a servo motor. The servo driver is connected to the I / O interface of the ARM controller, and the servo motor is connected to the servo driver.

6. The disinfection robot control system according to claim 1, characterized in that: The peripheral module also includes an indicator light module, and the indicator light module is connected to the I / O interface of the ARM controller based on SPI communication.

7. The disinfection robot control system according to claim 1, characterized in that: The control system also includes an extended output module, which is connected to the I / O interface of the ARM controller.

8. The disinfection robot control system according to claim 1, characterized in that: The peripheral module also includes a liquid pump module, and the liquid pump module is connected to the I / O interface of the ARM controller.

9. The disinfection robot control system according to claim 1, characterized in that: The industrial control computer is provided with an industrial control screen and a radar.

10. The disinfection robot control system according to claim 1, characterized in that: The power module is a 48V power battery power supply.

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