Main control board for simulating deep sea mechanical arm

Abstract

The utility model discloses a simulation deep sea mechanical arm main control board, which comprises a substrate, the substrate is provided with a main control module, a man-machine interaction module, a communication module, a sensor acquisition module and a power supply management module, the main control module comprises an MCU processor, the bottom of the substrate is provided with an MCU burning code interface matched with the MCU processor, and the MCU burning code interface is connected with the communication module. The man-machine interaction module comprises an LCD display screen and operation keys, the communication module comprises a WIFI module, an RS485 chip, an RS232 chip, a Type-C interface, a USB to serial port chip, an RS485 output interface, an RS232 output interface, a selection interface, a serial port switching interface, a WIFI burning selection interface and a PWM output expansion interface, and the sensor acquisition module comprises an ADC interface and an I2C interface. The power management module comprises a first voltage chip, a second voltage chip and a power interface. The main control board for simulating the deep sea mechanical arm integrates multiple interfaces, efficiently processes data, friendly man-machine interaction and multiple functions, and improves efficiency.

Description

Technical Field

[0001] The utility model relates to the field of deep - sea manipulator control, and specifically relates to a main control board for simulating a deep - sea manipulator. Background Technique

[0002] At present, deep - sea manipulators play an important role in ocean exploration and engineering operations. In order to improve the operator's perception ability of the manipulator's working environment and actions, the development of a simulation operation system is particularly important. The existing simulation operation systems usually have the following problems:

[0003] 1. The types of data transmission interfaces are single, making it difficult to meet diverse communication requirements;

[0004] 2. The human - machine interaction interface is not friendly enough, and the operation information feedback is not intuitive;

[0005] 3. The data parsing efficiency is low, affecting the real - time performance of operations;

[0006] 4. There is a lack of effective teaching methods for manipulator operations. Content of the Utility Model

[0007] The purpose of the utility model is to provide a main control board for simulating a deep - sea manipulator, so as to solve the obvious deficiencies in data transmission and human - machine interaction of the existing deep - sea manipulator simulation control system in the above - mentioned background technique. The main manifestations are as follows: The types of communication interfaces are single, restricting the flexibility and applicability of the system; the operation interface is not intuitive enough, affecting work efficiency and safety; the data parsing efficiency is low, resulting in insufficient real - time response ability; due to the limitation of the number of personnel going to sea, most personnel have few opportunities to go to sea and lack operation experience. As a result, when operating a remotely - operated vehicle (ROV), a manned submersible, etc. equipped with a manipulator, they are not proficient and cannot receive good training and exercise, thus unable to meet the requirements of long - term continuous operation. The existence of these problems seriously affects the reliability and efficiency of deep - sea exploration tasks.

[0008] To achieve the above object, the present utility model provides the following technical solutions: A main control board for a simulated deep-sea robotic arm, including a substrate, on which a main control module, a human-machine interaction module, a communication module, a sensor acquisition module, and a power management module are provided. The main control module includes an MCU processor. At the bottom of the substrate, there is an MCU programming code interface matching the MCU processor. The human-machine interaction module includes an LCD display screen and operation buttons. The communication module includes a WIFI module, an RS485 chip, an RS232 chip, a Type-C interface, a USB-to-serial port chip, an RS485 output interface, an RS232 output interface, a selection interface, a serial port switching interface, a WIFI programming selection interface, and a PWM output expansion interface. The sensor acquisition module includes an ADC interface and an I2C interface. The power management module includes a first voltage chip, a second voltage chip, and a power interface. And the human-machine interaction module, the communication module, the sensor acquisition module, and the power management module are all installed on the substrate.

[0009] Preferably, the human-machine interaction module, the communication module, and the sensor acquisition module are all electrically connected to the main control module. The main control module is electrically connected to the power management module. On the surface of the substrate, there are M3 mounting and fixing holes. And in the middle of the substrate, there is a positioning groove corresponding to the LCD display screen.

[0010] Preferably, the MCU processor is installed in the middle of the top of the substrate. And the LCD display screen is installed on one side of the substrate close to the MCU processor. The operation buttons are arranged on both sides of the substrate. The WIFI module is installed on one side of the substrate close to the LCD display screen.

[0011] Preferably, a reset button is also provided at the top of the substrate. The RS485 chip, the RS232 chip, the Type-C interface, the reset button, and the USB-to-serial port chip are all arranged at the top position of the substrate. The power interface, the RS485 output interface, the RS232 output interface, the selection interface, the serial port switching interface, the MCU programming code interface, the WIFI programming selection interface, and the PWM output expansion interface are all arranged at the bottom position of the substrate. The first voltage chip is a 24V-to-5V chip. The second voltage chip is a 3.5V-to-3V voltage stabilizing chip.

[0012] Compared with the prior art, the beneficial effects of the present utility model are:

[0013] 1. Multi-interface integration: Simultaneously supports multiple communication methods such as WIFI, RS232, and RS485, adapting to communication requirements in different scenarios;

[0014] 2. Efficient data processing: Adopts the JSON format communication protocol to improve data parsing efficiency and ensure operation real-time performance;

[0015] 3. Friendly human-computer interaction: Through the combined design of buttons and display screens, an intuitive operation interface is provided to enhance the user experience;

[0016] 4. Multifunctional integration: Integrate functions such as data acquisition, communication control, and human-computer interaction into one, simplifying the system architecture. Brief Description of the Drawings

[0017] Figure 1 is the module diagram of the present utility model;

[0018] Figure 2 is the top surface structure diagram of the main control board of the present utility model;

[0019] Figure 3 is the bottom surface structure diagram of the main control board of the present utility model.

[0020] In the figure: 1. M3 installation and fixing hole; 2. Operation button; 3. WIFI module; 4. LCD display screen; 5. First voltage chip; 6. Second voltage chip; 7. RS485 chip; 8. RS232 chip; 9. Type-C interface; 10. Reset button; 11. USB to serial port chip; 12. MCU processor; 13. Power interface; 14. RS485 output interface; 15. RS232 output interface; 16. Selection interface; 17. Serial port switching interface; 18. MCU code burning interface; 19. I2C interface; 20. WIFI code burning selection interface; 21. PWM output expansion interface; 22. ADC interface; 23. Substrate; 24. Positioning groove; 25. Main control module; 26. Human-computer interaction module; 27. Communication module; 28. Sensor acquisition module; 29. Power management module. Detailed Embodiment

[0021] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0022] Please refer to Figures 1-3, the present utility model provides a main control board for an analog deep - sea robotic arm, which includes a substrate 23. On the substrate 23, there are a main control module 25, a human - machine interaction module 26, a communication module 27, a sensor acquisition module 28, and a power management module 29. The main control module 25 includes an MCU processor 12. At the bottom of the substrate 23, there is an MCU programming code interface 18 that matches the MCU processor 12. The MCU processor 12 of the main control module 25 is an STM32F103CBT6 core control unit, which is responsible for data processing, communication, and instruction output;

[0023] The human - machine interaction module 26 includes an LCD display screen 4 and operation buttons 2. The LCD display screen 4 and the operation buttons 2 are used to display the system status and receive user instructions;

[0024] The communication module 27 includes a WIFI module 3, an RS485 chip 7, an RS232 chip 8, a Type - C interface 9, a USB - to - serial port chip 11, an RS485 output interface 14, an RS232 output interface 15, a selection interface 16, a serial port switching interface 17, a WIFI programming selection interface 20, and a PWM output expansion interface 21, which are used to implement various communication methods;

[0025] The sensor acquisition module 28 includes an ADC interface 22 and an I2C interface 19. The sensor acquisition module 28 is used to collect information such as the motion state of the robotic arm and environmental parameters through the 7 - channel input ADC interface 22 and the I2C interface 19;

[0026] The power management module 29 includes a first voltage chip 5, a second voltage chip 6, and a power interface 13, which is responsible for the power supply and low - power management of the system;

[0027] The human - machine interaction module 26, the communication module 27, the sensor acquisition module 28, and the power management module 29 are all installed on the substrate 23;

[0028] In this embodiment, during the use process, the data acquisition stage is carried out first:

[0029] The sensor acquisition module 28 monitors the motion state of the robotic arm in real - time, such as the posture and the positions of each joint, as well as environmental parameters such as temperature and depth. And the data is transmitted to the main control module 25 through the ADC interface 22 and the I2C interface 19, etc. After preliminary processing, the main parameters are stored in the internal FLASH or sent to the host computer;

[0030] The data communication stage is carried out:

[0031] The main control module 25 selects the communication method WIFI / RS232 / RS485 / TTL according to needs, and sends the data to external devices through the communication module 27. The real - time data collected by the main control module 25 is converted into control instructions and sent to external devices;

[0032] Enter the human-machine interaction stage:

[0033] The user inputs operation instructions through the buttons or views the system status on the LCD display screen 4. The operation buttons 2 are eight and are set on the substrate 23, corresponding to the activation / freeze of 7 joints and 1 full activation / full freeze function respectively, enriching the application scenarios. After receiving the user instructions, the main control module 25 analyzes and executes the corresponding control logic, and displays it on the LCD display screen 4 in real time. At the same time, it sends the received sensor data to an external device for real-time control of the 3D model of the upper computer;

[0034] Enter the control execution stage:

[0035] The entire main control board performs fusion filtering, conversion, etc. on the collected data to control the manipulator.

[0036] Refer to Figures 1-3 , the human-machine interaction module 26, the communication module 27, and the sensor acquisition module 28 are all electrically connected to the main control module 25. The main control module 25 is electrically connected to the power management module 29. The surface of the substrate 23 is provided with M3 mounting and fixing holes 1, and a positioning groove 24 corresponding to the LCD display screen 4 is provided in the middle of the substrate 23. The MCU processor 12 is installed in the middle of the top of the substrate 23, and the LCD display screen 4 is installed on one side of the substrate 23 close to the MCU processor 12. The operation buttons 2 are set on both sides of the substrate 23, and the WIFI module 3 is installed on one side of the substrate 23 close to the LCD display screen 4;

[0037] Refer to Figures 1-3 , a reset button 10 is also provided at the top of the substrate 23. The RS485 chip 7, the RS232 chip 8, the Type-C interface 9, the reset button 10, and the USB-to-serial chip 11 are all arranged at the top position of the substrate 23. The power interface 13, the RS485 output interface 14, the RS232 output interface 15, the selection interface 16, the serial port switching interface 17, the MCU code burning interface 18, the WIFI burning selection interface 20, and the PWM output expansion interface 21 are all arranged at the bottom position of the substrate 23. The first voltage chip 5 is a 24V-to-5V chip, and the second voltage chip 6 is a 3.5V-to-3V voltage stabilizing chip;

[0038] In this embodiment, the M3 mounting holes 1 are holes for mounting and fixing. There are a total of 8 M3 holes. The operation buttons 2 have 8 identical buttons, which respectively correspond to the transmission control of 7 ADC data and 1 all ADC transmission control. The WIFI module 3 is of the ESP8266 model. The LCD display 4 is a display with a resolution of 400x400, which is used to display the real-time data and transmission data of the ADC, etc., facilitating the observation of the working conditions of each sensor. The first voltage chip 5 is a 24V to 5V chip, which is a general-purpose chip. The output 5V is mainly used for the working voltage of the serial port chip and the input of the 3.3V voltage conversion chip. The second voltage chip 6 is a 3.5V to 3V voltage regulator chip, which is used for the power supply of the single-chip microcomputer and the WIFI module 3. The RS485 chip 7 is used in the scenario of RS485 serial communication and can connect multiple devices. The RS232 chip 8 is used in the scenario of RS232 serial communication. The Type-C interface 9 can be connected to a computer only with a mobile phone data cable, providing convenience for quick connection. The reset button 10 can be pressed when the main control chip freezes, enabling it to run again. The USB to serial port chip 11 connects the USB signal to the Type-C interface 9, and the serial port is connected to the processor chip. It is an important chip for data interaction with the upper computer software. The MCU processor 12 uses the mainstream control chip STM32F103C8T6. The power interface 13 can be used for power supply in addition to being powered through the Type-C interface 9, realizing 24V to 5V conversion. The RS485 output interface 14 can implement the bus protocol and mount more devices. When the main control board is set to the host mode, it can control multiple robotic arms. The RS232 output interface 15 can only be used one-to-one. When wiring, it is necessary to connect the TXD to the RXD of the computer and the RXD of the receiver to the TXD of the computer. The selection interface 16 is an interface for selecting RS485 and RS232, facilitating the switching of application scenarios of different types of serial ports. The serial port switching interface 17 is switched through a shorting cap and is used to switch the connection between the WIFI module 3 and the computer to upgrade the firmware. After the upgrade is completed, it is switched back to the serial connection with the MCU processor 12. The MCU programming interface 18 is used for code firmware upgrade. The I2C interface 19 is defaultly connected to the sensor module. Because it is an I2C bus, multiple I2C chips can be mounted, enriching more application scenarios. The WIFI programming selection interface 20 is used to switch to the upgrade mode when upgrading the firmware. The PWM output expansion interface 21 outputs to control devices such as servos, LED dimming, and brushless motors that require PWM duty cycle adjustment, expanding the application scenario. The ADC interface 22 collects the original data of multiple joint sensors of the robotic arm, and finally the data is processed, converted, packaged into JSON format by the MCU processor 12 and sent to the upper computer software;

[0039] In specific use, for the main control board of a simulated deep-sea robotic arm of the present utility model, multiple interfaces are integrated, and it supports multiple communication methods such as WIFI, RS232, and RS485 at the same time, adapting to communication requirements in different scenarios. It adopts a JSON format communication protocol to improve data parsing efficiency and ensure operation real-time performance. Through the combined design of buttons and a display screen, it provides an intuitive operation interface, enhancing the user experience. It integrates functions such as data acquisition, communication control, and human-computer interaction, simplifying the system architecture.

[0040] Although the present utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A main control board for simulating a deep-sea robotic arm, comprising a base plate (23), characterized in that: The substrate (23) is provided with a main control module (25), a human-machine interaction module (26), a communication module (27), a sensor acquisition module (28) and a power management module (29); the main control module (25) includes an MCU processor (12); an MCU burning code interface (18) matching the MCU processor (12) is provided at the bottom of the substrate (23); the human-machine interaction module (26) includes an LCD display screen (4) and operation buttons (2); the communication module (27) includes a WIFI module (3), an RS485 chip (7), an RS232 chip (8), a Type-C interface (9), a USB converter (10), and a USB port (11). A serial port chip (11), an RS485 output interface (14), an RS232 output interface (15), a selection interface (16), a serial port switching interface (17), a WIFI burning selection interface (20) and a PWM output expansion interface (21); the sensor acquisition module (28) comprises an ADC interface (22) and an I2C interface (19); the power management module (29) comprises a first voltage chip (5), a second voltage chip (6) and a power interface (13); and the human-computer interaction module (26), the communication module (27), the sensor acquisition module (28) and the power management module (29) are all mounted on a substrate (23).

2. A main control board for simulating a deep-sea manipulator according to claim 1, characterized in that: The human-machine interaction module (26), the communication module (27) and the sensor acquisition module (28) are all electrically connected to the main control module (25), and the main control module (25) is electrically connected to the power management module (29).

3. The main control board of a simulated deep-sea manipulator according to claim 1, characterized in that: An M3 mounting and fixing hole (1) is provided on the surface of the base plate (23), and a positioning groove (24) corresponding to the LCD display screen (4) is provided in the middle of the base plate (23).

4. The main control board of a simulated deep-sea manipulator according to claim 1, characterized in that: The MCU processor (12) is mounted in the middle of the top of the substrate (23), and the LCD display screen (4) is mounted on a side of the substrate (23) close to the MCU processor (12), the operation buttons (2) are arranged on both sides of the substrate (23), and the WIFI module (3) is mounted on a side of the substrate (23) close to the LCD display screen (4).

5. The main control board of a simulated deep-sea manipulator according to claim 1, characterized in that: A reset button (10) is also provided at the top of the substrate (23), and the RS485 chip (7), RS232 chip (8), Type-C interface (9), reset button (10), and USB to serial port chip (11) are all arranged at the top of the substrate (23).

6. The main control board of a simulated deep-sea manipulator according to claim 1, characterized in that: The power interface (13), RS485 output interface (14), RS232 output interface (15), selection interface (16), serial port switching interface (17), MCU code burning interface (18), WIFI burning selection interface (20) and PWM output expansion interface (21) are all arranged at the bottom of the base plate (23).

7. The main control board of a simulated deep-sea manipulator according to claim 1, characterized in that: The first voltage chip (5) is a 24V to 5V chip, and the second voltage chip (6) is a 3.5V to 3V voltage stabilizing chip.

Images