Peeling control system under high-altitude operation

Abstract

The utility model discloses a peeling control system for high-altitude operation, which is provided with a main control system and an auxiliary control system, the two control systems are connected through wireless communication, and a magnetic switch and a brushless motor connecting port are reserved on the main control system. Connection ports of a color sensor, a brushless motor and a stepping motor are reserved on the auxiliary control system, and a circuit basis is provided for stable and efficient peeling in a high-altitude link.

Description

Technical Field

[0001] The utility model belongs to the technical field of power equipment control, in particular to a peeling control system for high-altitude operations. Background Art

[0002] In order to improve the operational safety of high-altitude distribution lines, insulated conductors are widely used in power systems. Due to the insulation coating on the outer layer of the insulated conductor, it can effectively reduce the impact of the external environment on the cable, such as reducing the risk of electric shock and preventing short circuits. However, when performing the hot connection operation of the distribution line, the outer insulation layer of the live insulated conductor must first be stripped off to ensure that the conductor can be smoothly connected to the target line or equipment. This operation is crucial for the maintenance and modification of the distribution system. The common stripping system in the prior art has the problem of excessive load on the drive mechanism, which requires a large power input during operation, which not only increases the energy consumption of the equipment, but also may make the operation cumbersome. In addition, since the stripper usually contains multiple rotating or moving parts, these parts are easily affected by factors such as vibration and friction during operation, making it difficult to ensure the stability and accuracy of the stripping process. Utility Model Content

[0003] This utility model addresses the shortcomings of existing technologies and proposes a control system for stripping cables at height. Taking into account the difficulty of stripping cables at height, the system is designed with a primary and secondary control system. These two control systems are connected via wireless communication. The primary control system has reserved connection ports for a magnetic switch and a brushless motor, while the secondary control system has reserved connection ports for a color sensor, a brushless motor, and a stepper motor. This provides a circuit foundation for stable and efficient stripping in high-altitude environments.

[0004] The utility model solves the technical problem by adopting the following technical solution: a peeling control system for high-altitude operation is designed, characterized in that the system includes a main control board circuit system and a sub-control board circuit system;

[0005] The main control board circuit system includes a first main control chip, a first power supply circuit, a first reset circuit, a power collection circuit, a first wireless communication circuit, a Bluetooth communication circuit, a first brushless motor control circuit and a magnetic switch detection circuit. The power collection circuit is connected to the A / D pin of the first main control chip, the first wireless communication circuit and the Bluetooth communication circuit are both connected to the USART pin of the first main control chip, and the first reset circuit, the first brushless motor control circuit and the magnetic switch detection circuit are all connected to the I / O pin of the first main control chip; the first power supply circuit provides +3.3V power to the first main control chip, the first wireless communication circuit, the Bluetooth communication circuit and the first reset circuit;

[0006] The auxiliary control board circuit system includes a second main control chip, a second power supply circuit, a second reset circuit, a second wireless communication circuit, a color sensor detection circuit, a second brushless motor control circuit and a stepper motor drive circuit. The second wireless communication circuit is connected to the USART pin of the second main control chip, the stepper motor drive circuit is connected to the PWM output pin of the second main control chip, and the second brushless motor control circuit and the second reset circuit are both connected to the I / O pin of the second main control chip. The main control board circuit system and the auxiliary control board circuit system transmit signals through the first wireless communication circuit and the second wireless communication circuit. The second power supply circuit provides +3.3V power to the second main control chip, the second wireless communication circuit, the stepper motor drive circuit and the second reset circuit.

[0007] The first main control chip model of the main control board circuit system is STM32G070CBT6, and pin 2 and pin 3 of the first main control chip are respectively connected to one end of the second resistor and one end of the first resistor, and the other end of the second resistor is connected in parallel with the other end of the first resistor and then grounded; pin 5 of the first main control chip is connected to a +3.3V power supply; pin 6 of the first main control chip is connected in parallel with one end of the first capacitor, one end of the second capacitor, and one end of the third capacitor and then connected to a +3.3V power supply, and pin 7 of the first main control chip is connected in parallel with the other end of the first capacitor, the other end of the second capacitor, and the other end of the third capacitor and then grounded; pin 12 of the first main control chip is connected to one end of the third resistor, and the other end of the third resistor is connected to a +3.3V power supply; pin 14 of the first main control chip is connected to One end of the fifth resistor is connected, and the other end of the fifth resistor is connected to the +3.3V power supply; pin 19 of the first main control chip is connected to one end of the sixth resistor, and the other end of the sixth resistor is connected to the +3.3V power supply; pins 25, 26, and 27 of the first main control chip are respectively connected to one end of the ninth resistor, the eighth resistor, and the seventh resistor, and the other ends of the ninth resistor, the eighth resistor, and the seventh resistor are respectively connected to the WIFI-CH_PD port, the WIFI-RST port, and the WIFI-GPIO0 port of the first main control chip; pin 32 of the first main control chip is connected to one end of the eleventh resistor, and the other end of the eleventh resistor is connected to the +3.3V power supply; pin 36 of the first main control chip is connected to one end of the tenth resistor, and the other end of the tenth resistor is grounded;

[0008] The first power supply circuit includes a third pin connector, a fifth capacitor, a sixth capacitor, a seventh capacitor, an eighth capacitor, a fourteenth resistor, a first light-emitting diode and a first AMS1117-3.3 voltage conversion chip. Pin 1 of the third pin connector is connected to an external +12V power supply, and pin 2 thereof is connected to one end of the fifth capacitor, one end of the sixth capacitor, and the Vin pin of the first AMS1117-3.3 chip; the Vout pin of the first AMS1117-3.3 is connected in parallel with the NC pin of the first AMS1117-3.3 chip, one end of the seventh capacitor, one end of the eighth capacitor, and one end of the fourteenth resistor to form a +3.3V power output end; the other end of the fourteenth resistor is connected to the input end of the first light-emitting diode, and the other end of the fifth capacitor, the other end of the sixth capacitor, the GND pin of the first AMS1117-3.3 chip, the other end of the seventh capacitor, the other end of the eighth capacitor, and the output end of the first light-emitting diode are connected in parallel and then grounded;

[0009] The power collection circuit includes a twelfth resistor, a thirteenth resistor, and a fourth capacitor; one end of the twelfth resistor is connected to a +12V power supply, and the other end of the twelfth resistor is connected in parallel with one end of the thirteenth resistor and one end of the fourth capacitor, and then connected to pin 15 of the first main control chip; the other end of the thirteenth resistor and the other end of the fourth capacitor are connected in parallel and then grounded;

[0010] The first wireless communication circuit includes a sixteenth resistor, a nineteenth resistor, a twentieth resistor and an ESP8266-1 module; pin 3 of the ESP8266-1 module is connected to the WIFI-GPIO0 port of the first main control chip and one end of the sixteenth resistor, and the other end of the sixteenth resistor is connected to a +3.3V power supply; pin 6 of the ESP8266-1 module is connected to the WIFI-CH_PD port of the first main control chip, one end of the 20th resistor, and the other end of the 20th resistor is connected to a +3.3V power supply; pin 7 of the ESP8266-1 module is connected to the WIFI-RST port of the first main control chip, one end of the nineteenth resistor, and the other end of the nineteenth resistor is connected to a +3.3V power supply; pin 1 and pin 8 of the ESP8266-1 module are connected to ground and a +3.3V power supply, respectively; pin 4 and pin 5 of the ESP8266-1 module are connected to pin 11 and pin 12 of the first main control chip, respectively;

[0011] The Bluetooth communication circuit includes a third light-emitting diode, a fourth light-emitting diode, a fifth light-emitting diode, a twenty-first resistor, a twenty-second resistor, a twenty-third resistor and a Bluetooth module, wherein pin 1 of the Bluetooth module is connected to pin 14 of the first main control chip, the output end of the third light-emitting diode is connected to one end of the twenty-second resistor, and the other end of the twenty-second resistor is connected to pin 1 of the Bluetooth module; the input end of the third light-emitting diode and the input end of the fourth light-emitting diode are connected in parallel and then connected to a +3.3V power supply; the output end of the fourth light-emitting diode is connected to one end of the twenty-first resistor, and the other end of the twenty-first resistor is connected to pin 2 of the Bluetooth module and pin 13 of the first main control chip; pins 12 and 13 of the Bluetooth module are respectively connected to a +3.3V power supply and ground; one end of the twenty-third resistor is connected to the output end of the fifth light-emitting diode, and the input end of the fifth light-emitting diode is connected to a +3.3V power supply; the other end of the twenty-third resistor is connected to pin 17 of the Bluetooth module;

[0012] The first brushless motor control circuit includes a first pin connector and a fourth resistor; the first pin connector is externally connected to the first brushless motor, pins 1 and 3 of the first pin connector are respectively connected to a +12V power supply and ground, pin 2 of the first pin connector is connected to pin 45 of the first main control chip, and pin 4 of the first pin connector is connected in series with the fourth resistor and then to pin 28 of the first main control chip;

[0013] The magnetic switch detection circuit includes a fourth pin connector, a seventeenth resistor, and an eighteenth resistor; the fourth pin connector is externally connected to the magnetic switch; pins 1 and 3 of the fourth pin connector are connected to a +12V power supply and ground, respectively; pin 2 of the fourth pin connector is connected to one end of the seventeenth resistor, the other end of the seventeenth resistor is connected to one end of the eighteenth resistor and pin 42 of the first main control chip, and the other end of the eighteenth resistor is grounded;

[0014] The first reset circuit includes a 41st resistor and a 17th capacitor; one end of the 41st resistor is connected to a +3.3V power supply, the other end of the 41st resistor is connected to one end of the 17th capacitor and pin 10 of the first main control chip, and the other end of the 17th capacitor is grounded;

[0015] The second main control chip model of the auxiliary control board circuit system is STM32G070CBT6, and pins 2 and 3 of the second main control chip are respectively connected to one end of the twenty-seventh resistor and one end of the twenty-fifth resistor, and the other end of the twenty-seventh resistor and the other end of the twenty-fifth resistor are connected in parallel and then grounded; pin 5 of the second main control chip is connected to a +3.3V power supply; pin 6 of the second main control chip is connected in parallel with one end of the ninth capacitor, one end of the tenth capacitor, and one end of the eleventh capacitor and then connected to a +3.3V power supply; pin 7 of the second main control chip is connected in parallel with the other end of the ninth capacitor, the other end of the tenth capacitor, and the other end of the eleventh capacitor and then grounded; pin 12 of the second main control chip is connected to one end of the twenty-eighth resistor end, the other end of the twenty-eighth resistor is connected to the +3.3V power supply; one end of the thirty-first resistor, one end of the thirty-second resistor, and one end of the thirty-third resistor are respectively connected to pins 27, 26, and 25 of the second master chip, and the other ends of the thirty-first resistor, the other ends of the thirty-second resistor, and the other ends of the thirty-third resistor are respectively connected to the WIFI-GPIO0 port, WIFI-RST port, and WIFI-CH_PD port of the second master chip; pin 32 of the second master chip is connected to one end of the thirty-fourth resistor, and the other end of the thirty-fourth resistor is connected to +3.3V; pin 36 of the second master chip is connected to one end of the 30th resistor, and the other end of the 30th resistor is grounded;

[0016] The second power supply circuit includes a seventh pin connector, a twelfth capacitor, a thirteenth capacitor, a fifteenth capacitor, a sixteenth capacitor, a thirty-fifth resistor, a second light-emitting diode and a second AMS1117-3.3 voltage conversion chip. Pin 1 of the seventh pin connector is connected to an external +12V power supply, and pin 2 thereof is connected to the Vin pin of the second AMS1117-3.3 chip, one end of the twelfth capacitor, and one end of the thirteenth capacitor; the Vout pin of the second AMS1117-3.3 and its NC pin, one end of the fifteenth capacitor, one end of the sixteenth capacitor, and one end of the thirty-fifth resistor are connected in parallel to form a +3.3V power output end; the other end of the thirty-fifth resistor is connected to the input end of the second light-emitting diode, and the output end of the second light-emitting diode, the other end of the sixteenth capacitor, the other end of the fifteenth capacitor, the GND pin of the second AMS1117-3.3, the other end of the thirteenth capacitor, and the other end of the twelfth capacitor are connected in parallel and then grounded;

[0017] The second wireless communication circuit includes a thirty-sixth resistor, a thirty-eighth resistor, a thirty-ninth resistor and an ESP8266-2 module; pin 3 of the ESP8266-2 module is connected to the WIFI-GPIO0 port of the second main control chip and one end of the thirty-sixth resistor, and the other end of the thirty-sixth resistor is connected to a +3.3V power supply; pin 6 of the ESP8266-2 module is connected to the WIFI-CH_PD port of the second main control chip and one end of the thirty-ninth resistor, and the other end of the thirty-ninth resistor is connected to a +3.3V power supply; pin 7 of the ESP8266-2 module is connected to the WIFI-RST port of the second main control chip and one end of the thirty-eighth resistor, and the other end of the thirty-eighth resistor is connected to a +3.3V power supply; pin 1 and pin 8 of the ESP8266-2 module correspond to ground and a +3.3V power supply, respectively; pin 4 and pin 5 of the ESP8266-2 module correspond to pin 11 and pin 12 of the second main control chip, respectively;

[0018] The color sensor detection circuit includes a twenty-fourth resistor, a twenty-sixth resistor, a twenty-ninth resistor, and a fifth pin connector; wherein the fifth pin connector is externally connected to the color sensor, pin 1 of the fifth pin connector is connected to a +12V power supply, and pins 2 and 3 are grounded; pin 4 of the fifth pin connector is connected to one end of the twenty-ninth resistor and one end of the twenty-sixth resistor, and the other end of the twenty-ninth resistor is connected to the +12V power supply; the other end of the twenty-sixth resistor is connected to pin 40 of the second main control chip and one end of the twenty-fourth resistor, and the other end of the twenty-fourth resistor is grounded;

[0019] The stepper motor drive circuit includes a fourteenth capacitor, an eighth pin connector, and an A4998 stepper motor drive module; pins 1 to 8 of the A4998 stepper motor drive module are respectively connected to pins 20, 30, 18, 17, 16, 15, 14, and 13 of the second main control chip; pin 9 of the A4998 stepper motor drive module is connected in parallel with one end of the fourteenth capacitor and then connected to a +12V power supply, and pin 10 thereof is connected in parallel with the other end of the fourteenth capacitor and then grounded; pins 11 to 14 of the A4998 stepper motor drive module are respectively connected to pins 4, 3, 2, and 1 of the eighth pin connector P8; pins 15 and 16 of the A4998 stepper motor drive module are respectively connected to a +3.3V power supply and ground;

[0020] The second brushless motor control circuit includes a ninth pin connector, a fortieth resistor, and a thirty-seventh resistor; the ninth pin connector is externally connected to the second brushless motor, pins 1 and 4 of the ninth pin connector are connected to a +12V power supply and ground, respectively; pin 2 of the ninth pin connector is connected to one end of the thirty-seventh resistor, and the other end of the thirty-seventh resistor is connected to pin 48 of the second main control chip; pin 5 of the ninth pin connector is connected to one end of the fortieth resistor, and the other end thereof is connected to pin 28 of the second main control chip; and pin 3 of the ninth pin connector is connected to pin 47 of the second main control chip;

[0021] The second reset circuit includes a 42nd resistor and an 18th capacitor; one end of the 42nd resistor is connected to the +3.3V power supply, and the other end is connected to pin 10 of the second main control chip and one end of the 18th capacitor, and the other end of the 18th capacitor is grounded.

[0022] Compared with the existing technology, the beneficial effects of the present invention are: the present invention provides a peeling control system for high-altitude operations, which is designed with a main and a sub-control system. The two control systems are connected through wireless communication, and the main control system is equipped with a magnetic switch and a brushless motor connection port, and the sub-control system is equipped with a color sensor, a brushless motor and a stepper motor connection port, providing a circuit basis for achieving stable and efficient peeling in a high-altitude environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a circuit diagram of the first main control chip of the main control board circuit system of an embodiment of a peeling control system for high-altitude operations of the utility model.

[0024] Figure 2 This is a first power supply circuit diagram of the main control board circuit system of an embodiment of a peeling control system for high-altitude operations of the utility model.

[0025] Figure 3 This is a power collection circuit diagram of the main control board circuit system of an embodiment of a peeling control system for high-altitude operations in the utility model.

[0026] Figure 4 This is a first wireless communication circuit diagram of a main control board circuit system of an embodiment of a peeling control system for high-altitude operations according to the present invention.

[0027] Figure 5 This is a Bluetooth communication circuit diagram of the main control board circuit system of an embodiment of a peeling control system for high-altitude operations in the utility model.

[0028] Figure 6This is a first brushless motor control circuit diagram of a main control board circuit system of an embodiment of a peeling control system for high-altitude operations according to the present invention.

[0029] Figure 7 This is a magnetic switch detection circuit diagram of the main control board circuit system of an embodiment of a peeling control system for high-altitude operations of the utility model.

[0030] Figure 8 This is a first reset circuit diagram of the main control board circuit system of an embodiment of a peeling control system for high-altitude operations according to the utility model.

[0031] Figure 9 This is a circuit diagram of the second main control chip of the auxiliary control board circuit system of an embodiment of a peeling control system for high-altitude operations in the utility model.

[0032] Figure 10 This is a second power supply circuit diagram of the auxiliary control board circuit system of an embodiment of a peeling control system for high-altitude operations of the utility model.

[0033] Figure 11 This is a second wireless communication circuit diagram of the auxiliary control board circuit system of an embodiment of a peeling control system for high-altitude operations of the utility model.

[0034] Figure 12 This is a color sensor detection circuit diagram of a sub-control board circuit system of an embodiment of a peeling control system for high-altitude operations of the utility model.

[0035] Figure 13 This is a stepper motor drive circuit diagram of the auxiliary control board circuit system of an embodiment of a peeling control system for high-altitude operations of the utility model.

[0036] Figure 14 This is a second brushless motor control circuit diagram of a sub-control board circuit system of an embodiment of a peeling control system for high-altitude operations according to the present invention.

[0037] Figure 15 This is a second reset circuit diagram of the auxiliary control board circuit system of an embodiment of a peeling control system for high-altitude operations of the utility model. DETAILED DESCRIPTION

[0038] In order to make the purpose, features and advantages of the invention more obvious and easy to understand, the overall structure and technical solution of the utility model will be clearly and completely described below in conjunction with the accompanying drawings, which is not intended to limit the scope of protection of this application.

[0039] The utility model provides a peeling control system for high-altitude operations (abbreviated as peeling control system), which includes a main control board circuit system and a sub-control board circuit system;

[0040] The main control board circuit system includes a first main control chip, a first power supply circuit, a first reset circuit, a power collection circuit, a first wireless communication circuit, a Bluetooth communication circuit, a first brushless motor control circuit and a magnetic switch detection circuit. The power collection circuit is connected to the A / D pin of the first main control chip, the first wireless communication circuit and the Bluetooth communication circuit are both connected to the USART pin of the first main control chip, and the first reset circuit, the first brushless motor control circuit and the magnetic switch detection circuit are all connected to the I / O pin of the first main control chip; the first power supply circuit provides +3.3V power to the first main control chip, the first wireless communication circuit, the Bluetooth communication circuit and the first reset circuit;

[0041] The auxiliary control board circuit system includes a second main control chip, a second power supply circuit, a second reset circuit, a second wireless communication circuit, a color sensor detection circuit, a second brushless motor control circuit and a stepper motor drive circuit. The second wireless communication circuit is connected to the USART pin of the second main control chip, the stepper motor drive circuit is connected to the PWM output pin of the second main control chip, and the second brushless motor control circuit and the second reset circuit are both connected to the I / O pin of the second main control chip. The main control board circuit system and the auxiliary control board circuit system transmit signals through the first wireless communication circuit and the second wireless communication circuit. The second power supply circuit provides +3.3V power to the second main control chip, the second wireless communication circuit, the stepper motor drive circuit and the second reset circuit.

[0042] like Figure 1As shown, the first main control chip model of the main control board circuit system is STM32G070CBT6, and pin No. 2 and pin No. 3 of the first main control chip are respectively connected to one end of the second resistor R2 and one end of the first resistor R1, and the other end of the second resistor R2 is connected in parallel with the other end of the first resistor R1 and then grounded; Pin No. 5 of the first main control chip is connected to a +3.3V power supply; Pin No. 6 of the first main control chip is connected in parallel with one end of the first capacitor C1, one end of the second capacitor C2, and one end of the third capacitor C3 and then connected to a +3.3V power supply, and Pin No. 7 of the first main control chip is connected in parallel with the other end of the first capacitor C1, the other end of the second capacitor C2, and the other end of the third capacitor C3 and then grounded; Pin No. 12 of the first main control chip is connected in parallel with the third capacitor C1. One end of the third resistor R3 is connected, and the other end of the third resistor R3 is connected to the +3.3V power supply; Pin 14 of the first main control chip is connected to one end of the fifth resistor R5, and the other end of the fifth resistor R5 is connected to the +3.3V power supply; Pin 19 of the first main control chip is connected to one end of the sixth resistor R6, and the other end of the sixth resistor R6 is connected to the +3.3V power supply; Pin 25, Pin 26, and Pin 27 of the first main control chip are respectively connected to one end of the ninth resistor R9, the eighth resistor R8, and the seventh resistor R7, and the other ends of the ninth resistor R9, the eighth resistor R8, and the seventh resistor R7 are respectively connected to the WIFI-CH_PD port, WIFI-RST port, and WIFI-GPIO0 port of the first main control chip. Pin 32 of the first main control chip is connected to one end of the eleventh resistor R11, and the other end of the eleventh resistor R11 is connected to the +3.3V power supply; Pin 36 of the first main control chip is connected to one end of the tenth resistor R10, and the other end of the tenth resistor R10 is grounded;

[0043] like Figure 2As shown, the first power supply circuit of the main control board circuit system includes a third pin connector P3, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, an eighth capacitor C8, a fourteenth resistor R14, a first light-emitting diode LED_1 and a first AMS1117-3.3 voltage conversion chip. Pin 1 of the third pin connector P3 is connected to an external +12V power supply, and its pin 2 is connected to one end of the fifth capacitor C5, one end of the sixth capacitor C6, and the Vin pin of the first AMS1117-3.3 chip; the Vo pin of the first AMS1117-3.3 The ut pin is connected in parallel to the NC pin of the first AMS1117-3.3 chip, one end of the seventh capacitor C7, one end of the eighth capacitor C8, and one end of the fourteenth resistor R14 to form a +3.3V power output terminal. The other end of the fourteenth resistor R14 is connected to the input terminal of the first light-emitting diode LED_1. The other end of the fifth capacitor C5, the other end of the sixth capacitor C6, the GND pin of the first AMS1117-3.3 chip, the other end of the seventh capacitor C7, the other end of the eighth capacitor C8, and the output terminal of the first light-emitting diode LED_1 are connected in parallel and then grounded.

[0044] like Figure 3 As shown, the power collection circuit of the main control board circuit system includes a twelfth resistor R12, a thirteenth resistor R13 and a fourth capacitor C4; one end of the twelfth resistor R12 is connected to the +12V power supply, and the other end thereof is connected in parallel with one end of the thirteenth resistor R13 and one end of the fourth capacitor C4 and then connected to pin 15 of the first main control chip, and the other end of the thirteenth resistor R13 and the other end of the fourth capacitor C4 are connected in parallel and then grounded;

[0045] like Figure 4 As shown, the first wireless communication circuit of the main control board circuit system includes a sixteenth resistor R16, a nineteenth resistor R19, a twentieth resistor R20 and an ESP8266-1 module; pin 3 of the ESP8266-1 module is connected to the WIFI-GPIO0 port of the first main control chip and one end of the sixteenth resistor R16, and the other end of the sixteenth resistor R16 is connected to a +3.3V power supply; pin 6 of the ESP8266-1 module is connected to the WIFI-CH_PD port of the first main control chip, one end of the 20th resistor R20, and the other end of the 20th resistor R20 is connected to a +3.3V power supply; pin 7 of the ESP8266-1 module is connected to the WIFI-RST port of the first main control chip, one end of the nineteenth resistor R19, and the other end of the nineteenth resistor R19 is connected to a +3.3V power supply. Pins 1 and 8 of the ESP8266-1 module are connected to the ground and +3.3V power supply, respectively. Pins 4 and 5 of the ESP8266-1 module are connected to pins 11 and 12 of the first main control chip, respectively.

[0046] like Figure 5 As shown, the Bluetooth communication circuit of the main control board circuit system includes a third light-emitting diode LED_3, a fourth light-emitting diode LED_4, a fifth light-emitting diode LED_5, a twenty-first resistor R21, a twenty-second resistor R22, a twenty-third resistor R23 and a Bluetooth module, pin 1 of the Bluetooth module is connected to pin 14 of the first main control chip, the output end of the third light-emitting diode LED_3 is connected to one end of the twenty-second resistor R22, and the other end of the twenty-second resistor R22 is connected to pin 1 of the Bluetooth module; the input end of the third light-emitting diode LED_3, the fourth light-emitting diode LED_4, the fifth light-emitting diode LED_5, the twenty-first resistor R21, the twenty-second resistor R22, the twenty-third resistor R23 and the Bluetooth module, the No. 1 pin of the Bluetooth module is connected to the No. 14 pin of the first main control chip, the output end of the third light-emitting diode LED_3 is connected to one end of the twenty-second resistor R22, and the other end of the twenty-second resistor R22 is connected to the No. 1 pin of the Bluetooth module; The input end of D_4 is connected in parallel to a +3.3V power supply. The output end of the fourth light-emitting diode LED_4 is connected to one end of a 21st resistor R21. The other end of the 21st resistor R21 is connected to pin 2 of the Bluetooth module and pin 13 of the first main control chip. Pins 12 and 13 of the Bluetooth module are connected to a +3.3V power supply and ground, respectively. One end of a 23rd resistor R23 is connected to the output end of the fifth light-emitting diode LED_5. The input end of the fifth light-emitting diode LED_5 is connected to a +3.3V power supply. The other end of the 23rd resistor R23 is connected to pin 17 of the Bluetooth module.

[0047] like Figure 6 As shown, the first brushless motor control circuit of the main control board circuit system includes a first pin connector P1 and a fourth resistor R4; the first pin connector P1 is externally connected to the first brushless motor, the model of the first brushless motor is B4235G, the power line and ground line of the B4235G brushless motor are respectively connected to pins 1 and 3 of the first pin P1, and the PWM line and direction line of the B4235G brushless motor are respectively connected to pins 4 and 2 of the first pin P1; pins 1 and 3 of the first pin connector P1 are respectively connected to the +12V power supply and ground, pin 2 of the first pin connector P1 is connected to pin 45 of the first main control chip, and pin 4 of the first pin connector P1 is connected in series with the fourth resistor R4 and then to pin 28 of the first main control chip;

[0048] like Figure 7As shown, the magnetic switch detection circuit of the main control board circuit system includes a fourth pin connector P4, a seventeenth resistor R17 and an eighteenth resistor R18; the fourth pin connector P4 is externally connected to a magnetic switch, the model of the magnetic switch is D-M9N, the power line and the ground line of the D-M9N magnetic switch are respectively connected to pins 1 and 3 of the fourth pin connector P4, and the signal line is connected to pin 2 of the fourth pin connector P4; pins 1 and 3 of the fourth pin connector P4 are respectively connected to the +12V power supply and ground; pin 2 of the fourth pin connector P4 is connected to one end of the seventeenth resistor R17, the other end of the seventeenth resistor R17 is connected to one end of the eighteenth resistor R18 and pin 42 of the first main control chip, and the other end of the eighteenth resistor R18 is grounded.

[0049] like Figure 8 As shown, the first reset circuit of the main control board circuit system includes a forty-first resistor R41 and a seventeenth capacitor C17; one end of the forty-first resistor R41 is connected to a +3.3V power supply, the other end of the forty-first resistor R41 is connected to one end of the seventeenth capacitor C17 and pin 10 of the first main control chip, and the other end of the seventeenth capacitor C17 is grounded.

[0050] like Figure 9 As shown, the second main control chip model of the auxiliary control board circuit system is STM32G070CBT6, and pins 2 and 3 of the second main control chip are respectively connected to one end of the 27th resistor R27 and one end of the 25th resistor R25, and the other end of the 27th resistor R27 and the other end of the 25th resistor R25 are connected in parallel and then grounded. Pin 5 of the second main control chip is connected to a +3.3V power supply; pin 6 of the second main control chip is connected in parallel to one end of the ninth capacitor C9, one end of the tenth capacitor C10, and one end of the eleventh capacitor C11, and then connected to a +3.3V power supply; pin 7 of the second main control chip is connected in parallel to the other end of the ninth capacitor C9, the other end of the tenth capacitor C10, and the other end of the eleventh capacitor C11, and then grounded. Pin 12 of the second master chip is connected to one end of the 28th resistor R28, and the other end of the 28th resistor R28 is connected to a +3.3V power supply; one end of the 31st resistor R31, one end of the 32nd resistor R32, and one end of the 33rd resistor R33 are respectively connected to pins 27, 26, and 25 of the second master chip, and the other ends of the 31st resistor R31, the other end of the 32nd resistor R32, and the other end of the 33rd resistor R33 are respectively connected to the WIFI-GPIO0 port, WIFI-RST port, and WIFI-CH_PD port of the second master chip. Pin 32 of the second master chip is connected to one end of the 34th resistor R34, and the other end of the 34th resistor R34 is connected to +3.3V. Pin 36 of the second master chip is connected to one end of the 30th resistor R30, and the other end of the 30th resistor R30 is grounded.

[0051] like Figure 10 As shown, the second power supply circuit of the auxiliary control board circuit system includes the seventh pin connector P7, the twelfth capacitor C12, the thirteenth capacitor C13, the fifteenth capacitor C15, the sixteenth capacitor C16, the thirty-fifth resistor C35, the second light-emitting diode LED_2, and the second AMS1117-3.3 voltage conversion chip. Pin 1 of the seventh pin connector P7 is connected to an external +12V power supply, and pin 2 of the seventh pin connector P7 is connected to the Vin pin of the second AMS1117-3.3 chip, one end of the twelfth capacitor C12, and one end of the thirteenth capacitor C13. The Vout pin of the second AMS1117-3.3 and its NC pin, one end of the fifteenth capacitor C15, one end of the sixteenth capacitor C16, and one end of the thirty-fifth resistor R35 are connected in parallel to form a +3.3V power output terminal. The other end of the thirty-fifth resistor R35 is connected to the input end of the second light-emitting diode LED_2, the output end of the second light-emitting diode LED_2, the other end of the sixteenth capacitor C16, the other end of the fifteenth capacitor C15, the GND pin of the second AMS1117-3.3, the other end of the thirteenth capacitor C13, and the other end of the twelfth capacitor C12 are connected in parallel and grounded.

[0052] like Figure 11 As shown, the second wireless communication circuit of the secondary control board circuit system includes a 36th resistor R36, a 38th resistor R38, a 39th resistor R39, and an ESP8266-2 module. Pin 3 of the ESP8266-2 module is connected to the WIFI-GPIO0 port of the second main control chip and one end of the 36th resistor R36. The other end of the 36th resistor R36 is connected to a +3.3V power supply. Pin 6 of the ESP8266-2 module is connected to the WIFI-CH_PD port of the second main control chip and one end of the 39th resistor R39. The other end of the 39th resistor R39 is connected to a +3.3V power supply. Pin 7 of the ESP8266-2 module is connected to the WIFI-RST port of the second main control chip and one end of the 38th resistor R38. The other end of the 38th resistor R38 is connected to a +3.3V power supply. Pins 1 and 8 of the ESP8266-2 module correspond to ground and +3.3V power supply respectively; pins 4 and 5 of the ESP8266-2 module correspond to pins 11 and 12 of the second main control chip respectively;

[0053] like Figure 12As shown, the color sensor detection circuit of the auxiliary control board circuit system includes a twenty-fourth resistor R24, a twenty-sixth resistor R26, a twenty-ninth resistor R29 and a fifth pin connector P5; wherein the fifth pin connector P5 is externally connected to a color sensor, the model of the color sensor is LR-WF10, the power line of the LR-WF10 color sensor is connected to pin 1 of the fifth pin connector P5, the ground line is connected to pins 2 and 3 of the fifth pin connector P5, and the signal line is connected to pin 4 of the fifth pin connector P5; pin 1 of the fifth pin connector is connected to a +12V power supply, and pins 2 and 3 are grounded; pin 4 of the fifth pin connector P5 is connected to one end of the twenty-ninth resistor R29 and one end of the twenty-sixth resistor R26, and the other end of the twenty-ninth resistor R29 is connected to the +12V power supply; the other end of the twenty-sixth resistor R26 is connected to pin 40 of the second main control chip and one end of the twenty-fourth resistor R24, and the other end of the twenty-fourth resistor R24 ​​is grounded.

[0054] like Figure 13 As shown, the stepper motor drive circuit of the auxiliary control board circuit system includes a fourteenth capacitor C14, an eighth pin connector P8, and an A4998 stepper motor drive module. The stepper motor model is BMP15, a two-terminal four-wire stepper motor. The signal lines 1B, 1A, 2A, and 2B of the BMP15 stepper motor correspond to pins 1, 2, 3, and 4 of the eighth pin connector, respectively. Pins 1 to 8 of the A4998 stepper motor drive module correspond to pins 20, 30, 18, 17, 16, 15, 14, and 13 of the second main control chip, respectively. Pin 9 of the A4998 stepper motor drive module is connected in parallel with one end of the fourteenth capacitor C14 and then connected to a +12V power supply. Its pin 10 is connected in parallel with the other end of the fourteenth capacitor C14 and then grounded. Pins 11 to 14 of the A4998 stepper motor driver module are connected to pins 4, 3, 2, and 1 of the eighth pin connector P8, respectively. Pins 15 and 16 of the A4998 stepper motor driver module are connected to the +3.3V power supply and ground, respectively.

[0055] like Figure 14As shown, the second brushless motor control circuit of the auxiliary control board circuit system includes a ninth pin connector P9, a fortieth resistor R40 and a thirty-seventh resistor R37; the ninth pin connector P9 is externally connected to a second brushless motor, the model of the second brushless motor is B2430G, the power line and the ground line of the B2430G brushless motor are respectively connected to pins 1 and 4 of the ninth pin P9, and the PWM line, direction line and pulse feedback line of the B2430G brushless motor are respectively connected to pins 5 and 6 of the ninth pin P9. Pin 3 and pin 2; Pin 1 and pin 4 of the ninth pin connector P9 are connected to the +12V power supply and ground respectively, Pin 2 of the ninth pin connector P9 is connected to one end of the thirty-seventh resistor R37, and the other end of the thirty-seventh resistor R37 is connected to Pin 48 of the second main control chip; Pin 5 of the ninth pin connector P9 is connected to one end of the fortieth resistor R40, and the other end thereof is connected to Pin 28 of the second main control chip; Pin 3 of the ninth pin connector P9 is connected to Pin 47 of the second main control chip.

[0056] like Figure 15 As shown, the second reset circuit of the auxiliary control board circuit system includes a forty-second resistor R42 and an eighteenth capacitor C18; one end of the forty-second resistor R42 is connected to the +3.3V power supply, and the other end is connected to pin 10 of the second main control chip and one end of the eighteenth capacitor C18, and the other end of the eighteenth capacitor C18 is grounded.

[0057] The working principle and process of the peeling control system of the utility model are as follows: after the main control board and the auxiliary control board are connected to the external +12V power supply, the +12V power supply supplies power to the brushless motor control circuit, the magnetic switch detection circuit and the color sensor detection circuit. At the same time, the +12V power supply is processed by the power supply circuit to provide +3.3V power to each circuit. The construction personnel connect the Bluetooth of the main control board through the host computer, and the main control board and the auxiliary control board are connected through wireless communication. At this time, the initialization is completed, and the host computer, the main control board and the auxiliary control board establish a communication connection; then, the host computer sends a clamping command to the main control board, and the main control board sends the clamping command to the main control board through the wireless communication circuit. The command is sent to the sub-control board. After the wireless communication circuit of the sub-control board receives the signal, it analyzes the control signal through its main control chip, and then controls the brushless motor of the sub-control board to clamp the high-voltage cable for subsequent stripping. After that, the upper computer sends the stripping command through Bluetooth. The main control chip of the main control board analyzes the command and controls the rotation of the brushless motor of the main control board. At the same time, the main control board sends a command to the sub-control board. The main control chip of the sub-control board controls the stepper motor drive circuit to drive the stepper motor to rotate. The brushless motor of the main control board and the stepper motor of the sub-control board work together to perform longitudinal stripping on the high-voltage cable. When the outer skin is stripped, the color sensor detects the color change, and the main control chip of the auxiliary control board controls the stepper motor to stop rotating. At this time, horizontal stripping begins. When the predetermined stripping length is completed, the construction personnel send a stop command to the main control board. At this time, the magnetic switch detection circuit of the main control board detects the magnetism of the original position, the brushless motor of the main control board stops working, and the brushless motor of the auxiliary control board performs the operation of loosening the high-voltage cable. At the same time, the stepper motor returns to its position. At this time, the stripping operation of a certain length of cable is completed, and the stripping length is fed back to the main control board through wireless communication, and the main control board then feeds back to the host computer through Bluetooth communication.

[0058] The above description of the principles and processes is only used to introduce the application scenarios of the present invention. The present invention only provides the basic circuit design of the control system that can realize peeling. The structure of the execution end (i.e., the clamping mechanism and the peeling mechanism) is not within the scope of the claims of the present invention. The present invention only provides a control circuit for receiving and / or controlling the first brushless motor, the magnetic switch, the color sensor, the stepper motor, and the second brushless motor.

[0059] Any matters not described in this utility model are applicable to the prior art.

Claims

1. A peeling control system for high-altitude operations, characterized in that: The system includes a main control board circuit system and a sub-control board circuit system; The main control board circuit system includes a first main control chip, a first power supply circuit, a first reset circuit, a power collection circuit, a first wireless communication circuit, a Bluetooth communication circuit, a first brushless motor control circuit and a magnetic switch detection circuit. The power collection circuit is connected to the A / D pin of the first main control chip, the first wireless communication circuit and the Bluetooth communication circuit are both connected to the USART pin of the first main control chip, and the first reset circuit, the first brushless motor control circuit and the magnetic switch detection circuit are all connected to the I / O pin of the first main control chip; the first power supply circuit provides +3.3V power to the first main control chip, the first wireless communication circuit, the Bluetooth communication circuit and the first reset circuit; The auxiliary control board circuit system includes a second main control chip, a second power supply circuit, a second reset circuit, a second wireless communication circuit, a color sensor detection circuit, a second brushless motor control circuit and a stepper motor drive circuit. The second wireless communication circuit is connected to the USART pin of the second main control chip, the stepper motor drive circuit is connected to the PWM output pin of the second main control chip, and the second brushless motor control circuit and the second reset circuit are both connected to the I / O pin of the second main control chip. The main control board circuit system and the auxiliary control board circuit system transmit signals through the first wireless communication circuit and the second wireless communication circuit. The second power supply circuit provides +3.3V power to the second main control chip, the second wireless communication circuit, the stepper motor drive circuit and the second reset circuit. The first main control chip model of the main control board circuit system is STM32G070CBT6, and pin 2 and pin 3 of the first main control chip are respectively connected to one end of the second resistor and one end of the first resistor, and the other end of the second resistor is connected in parallel with the other end of the first resistor and then grounded; pin 5 of the first main control chip is connected to a +3.3V power supply; pin 6 of the first main control chip is connected in parallel with one end of the first capacitor, one end of the second capacitor, and one end of the third capacitor and then connected to a +3.3V power supply, and pin 7 of the first main control chip is connected in parallel with the other end of the first capacitor, the other end of the second capacitor, and the other end of the third capacitor and then grounded; pin 12 of the first main control chip is connected to one end of the third resistor, and the other end of the third resistor is connected to a +3.3V power supply; pin 14 of the first main control chip is connected to One end of the fifth resistor is connected, and the other end of the fifth resistor is connected to the +3.3V power supply; pin 19 of the first main control chip is connected to one end of the sixth resistor, and the other end of the sixth resistor is connected to the +3.3V power supply; pins 25, 26, and 27 of the first main control chip are respectively connected to one end of the ninth resistor, the eighth resistor, and the seventh resistor, and the other ends of the ninth resistor, the eighth resistor, and the seventh resistor are respectively connected to the WIFI-CH_PD port, the WIFI-RST port, and the WIFI-GPIO0 port of the first main control chip; pin 32 of the first main control chip is connected to one end of the eleventh resistor, and the other end of the eleventh resistor is connected to the +3.3V power supply; pin 36 of the first main control chip is connected to one end of the tenth resistor, and the other end of the tenth resistor is grounded; The first power supply circuit includes a third pin connector, a fifth capacitor, a sixth capacitor, a seventh capacitor, an eighth capacitor, a fourteenth resistor, a first light-emitting diode and a first AMS1117-3.3 voltage conversion chip. Pin 1 of the third pin connector is connected to an external +12V power supply, and pin 2 thereof is connected to one end of the fifth capacitor, one end of the sixth capacitor, and the Vin pin of the first AMS1117-3.3 chip; the Vout pin of the first AMS1117-3.3 is connected in parallel with the NC pin of the first AMS1117-3.3 chip, one end of the seventh capacitor, one end of the eighth capacitor, and one end of the fourteenth resistor to form a +3.3V power output end; the other end of the fourteenth resistor is connected to the input end of the first light-emitting diode, and the other end of the fifth capacitor, the other end of the sixth capacitor, the GND pin of the first AMS1117-3.3 chip, the other end of the seventh capacitor, the other end of the eighth capacitor, and the output end of the first light-emitting diode are connected in parallel and then grounded; The power collection circuit includes a twelfth resistor, a thirteenth resistor, and a fourth capacitor; one end of the twelfth resistor is connected to a +12V power supply, and the other end of the twelfth resistor is connected in parallel with one end of the thirteenth resistor and one end of the fourth capacitor, and then connected to pin 15 of the first main control chip; the other end of the thirteenth resistor and the other end of the fourth capacitor are connected in parallel and then grounded; The first wireless communication circuit includes a sixteenth resistor, a nineteenth resistor, a twentieth resistor and an ESP8266-1 module; pin 3 of the ESP8266-1 module is connected to the WIFI-GPIO0 port of the first main control chip and one end of the sixteenth resistor, and the other end of the sixteenth resistor is connected to a +3.3V power supply; pin 6 of the ESP8266-1 module is connected to the WIFI-CH_PD port of the first main control chip, one end of the 20th resistor, and the other end of the 20th resistor is connected to a +3.3V power supply; pin 7 of the ESP8266-1 module is connected to the WIFI-RST port of the first main control chip, one end of the nineteenth resistor, and the other end of the nineteenth resistor is connected to a +3.3V power supply; pin 1 and pin 8 of the ESP8266-1 module are connected to ground and a +3.3V power supply, respectively; pin 4 and pin 5 of the ESP8266-1 module are connected to pin 11 and pin 12 of the first main control chip, respectively; The Bluetooth communication circuit includes a third light-emitting diode, a fourth light-emitting diode, a fifth light-emitting diode, a twenty-first resistor, a twenty-second resistor, a twenty-third resistor and a Bluetooth module, wherein pin 1 of the Bluetooth module is connected to pin 14 of the first main control chip, the output end of the third light-emitting diode is connected to one end of the twenty-second resistor, and the other end of the twenty-second resistor is connected to pin 1 of the Bluetooth module; the input end of the third light-emitting diode and the input end of the fourth light-emitting diode are connected in parallel and then connected to a +3.3V power supply; the output end of the fourth light-emitting diode is connected to one end of the twenty-first resistor, and the other end of the twenty-first resistor is connected to pin 2 of the Bluetooth module and pin 13 of the first main control chip; pins 12 and 13 of the Bluetooth module are respectively connected to a +3.3V power supply and ground; one end of the twenty-third resistor is connected to the output end of the fifth light-emitting diode, and the input end of the fifth light-emitting diode is connected to a +3.3V power supply; the other end of the twenty-third resistor is connected to pin 17 of the Bluetooth module; The first brushless motor control circuit includes a first pin connector and a fourth resistor; the first pin connector is externally connected to the first brushless motor, pins 1 and 3 of the first pin connector are respectively connected to a +12V power supply and ground, pin 2 of the first pin connector is connected to pin 45 of the first main control chip, and pin 4 of the first pin connector is connected in series with the fourth resistor and then to pin 28 of the first main control chip; The magnetic switch detection circuit includes a fourth pin connector, a seventeenth resistor, and an eighteenth resistor; the fourth pin connector is externally connected to the magnetic switch; pins 1 and 3 of the fourth pin connector are connected to a +12V power supply and ground, respectively; pin 2 of the fourth pin connector is connected to one end of the seventeenth resistor, the other end of the seventeenth resistor is connected to one end of the eighteenth resistor and pin 42 of the first main control chip, and the other end of the eighteenth resistor is grounded; The first reset circuit includes a 41st resistor and a 17th capacitor; one end of the 41st resistor is connected to a +3.3V power supply, the other end of the 41st resistor is connected to one end of the 17th capacitor and pin 10 of the first main control chip, and the other end of the 17th capacitor is grounded; The second main control chip model of the auxiliary control board circuit system is STM32G070CBT6, and pins 2 and 3 of the second main control chip are respectively connected to one end of the twenty-seventh resistor and one end of the twenty-fifth resistor, and the other end of the twenty-seventh resistor and the other end of the twenty-fifth resistor are connected in parallel and then grounded; pin 5 of the second main control chip is connected to a +3.3V power supply; pin 6 of the second main control chip is connected in parallel with one end of the ninth capacitor, one end of the tenth capacitor, and one end of the eleventh capacitor and then connected to a +3.3V power supply; pin 7 of the second main control chip is connected in parallel with the other end of the ninth capacitor, the other end of the tenth capacitor, and the other end of the eleventh capacitor and then grounded; pin 12 of the second main control chip is connected to one end of the twenty-eighth resistor end, the other end of the twenty-eighth resistor is connected to the +3.3V power supply; one end of the thirty-first resistor, one end of the thirty-second resistor, and one end of the thirty-third resistor are respectively connected to pins 27, 26, and 25 of the second master chip, and the other ends of the thirty-first resistor, the other ends of the thirty-second resistor, and the other ends of the thirty-third resistor are respectively connected to the WIFI-GPIO0 port, WIFI-RST port, and WIFI-CH_PD port of the second master chip; pin 32 of the second master chip is connected to one end of the thirty-fourth resistor, and the other end of the thirty-fourth resistor is connected to +3.3V; pin 36 of the second master chip is connected to one end of the 30th resistor, and the other end of the 30th resistor is grounded; The second power supply circuit includes a seventh pin connector, a twelfth capacitor, a thirteenth capacitor, a fifteenth capacitor, a sixteenth capacitor, a thirty-fifth resistor, a second light-emitting diode and a second AMS1117-3.3 voltage conversion chip. Pin 1 of the seventh pin connector is connected to an external +12V power supply, and pin 2 thereof is connected to the Vin pin of the second AMS1117-3.3 chip, one end of the twelfth capacitor, and one end of the thirteenth capacitor; the Vout pin of the second AMS1117-3.3 and its NC pin, one end of the fifteenth capacitor, one end of the sixteenth capacitor, and one end of the thirty-fifth resistor are connected in parallel to form a +3.3V power output end; the other end of the thirty-fifth resistor is connected to the input end of the second light-emitting diode, and the output end of the second light-emitting diode, the other end of the sixteenth capacitor, the other end of the fifteenth capacitor, the GND pin of the second AMS1117-3.3, the other end of the thirteenth capacitor, and the other end of the twelfth capacitor are connected in parallel and then grounded; The second wireless communication circuit includes a thirty-sixth resistor, a thirty-eighth resistor, a thirty-ninth resistor and an ESP8266-2 module; pin 3 of the ESP8266-2 module is connected to the WIFI-GPIO0 port of the second main control chip and one end of the thirty-sixth resistor, and the other end of the thirty-sixth resistor is connected to a +3.3V power supply; pin 6 of the ESP8266-2 module is connected to the WIFI-CH_PD port of the second main control chip and one end of the thirty-ninth resistor, and the other end of the thirty-ninth resistor is connected to a +3.3V power supply; pin 7 of the ESP8266-2 module is connected to the WIFI-RST port of the second main control chip and one end of the thirty-eighth resistor, and the other end of the thirty-eighth resistor is connected to a +3.3V power supply; pin 1 and pin 8 of the ESP8266-2 module correspond to ground and a +3.3V power supply, respectively; pin 4 and pin 5 of the ESP8266-2 module correspond to pin 11 and pin 12 of the second main control chip, respectively; The color sensor detection circuit includes a twenty-fourth resistor, a twenty-sixth resistor, a twenty-ninth resistor, and a fifth pin connector; wherein the fifth pin connector is externally connected to the color sensor, pin 1 of the fifth pin connector is connected to a +12V power supply, and pins 2 and 3 are grounded; pin 4 of the fifth pin connector is connected to one end of the twenty-ninth resistor and one end of the twenty-sixth resistor, and the other end of the twenty-ninth resistor is connected to the +12V power supply; the other end of the twenty-sixth resistor is connected to pin 40 of the second main control chip and one end of the twenty-fourth resistor, and the other end of the twenty-fourth resistor is grounded; The stepper motor drive circuit includes a fourteenth capacitor, an eighth pin connector, and an A4998 stepper motor drive module; pins 1 to 8 of the A4998 stepper motor drive module are respectively connected to pins 20, 30, 18, 17, 16, 15, 14, and 13 of the second main control chip; pin 9 of the A4998 stepper motor drive module is connected in parallel with one end of the fourteenth capacitor and then connected to a +12V power supply, and pin 10 thereof is connected in parallel with the other end of the fourteenth capacitor and then grounded; pins 11 to 14 of the A4998 stepper motor drive module are respectively connected to pins 4, 3, 2, and 1 of the eighth pin connector P8; pins 15 and 16 of the A4998 stepper motor drive module are respectively connected to a +3.3V power supply and ground; The second brushless motor control circuit includes a ninth pin connector, a fortieth resistor, and a thirty-seventh resistor; the ninth pin connector is externally connected to the second brushless motor, pins 1 and 4 of the ninth pin connector are connected to a +12V power supply and ground, respectively; pin 2 of the ninth pin connector is connected to one end of the thirty-seventh resistor, and the other end of the thirty-seventh resistor is connected to pin 48 of the second main control chip; pin 5 of the ninth pin connector is connected to one end of the fortieth resistor, and the other end thereof is connected to pin 28 of the second main control chip; and pin 3 of the ninth pin connector is connected to pin 47 of the second main control chip; The second reset circuit includes a 42nd resistor and an 18th capacitor; one end of the 42nd resistor is connected to the +3.3V power supply, and the other end is connected to pin 10 of the second main control chip and one end of the 18th capacitor, and the other end of the 18th capacitor is grounded.

2. A peeling control system for high-altitude operations according to claim 1, characterized in that: The model of the first brushless motor is B4235G. The power line and ground line of the B4235G brushless motor are connected to pin 1 and pin 3 of the first pin respectively. The PWM line and direction line of the B4235G brushless motor are connected to pin 4 and pin 2 of the first pin respectively.

3. The peeling control system for high-altitude operation according to claim 1, characterized in that: The model of the magnetic switch is D-M9N. The power line and ground line of the D-M9N magnetic switch are connected to pins 1 and 3 of the fourth pin connector respectively, and the signal line is connected to pin 2 of the fourth pin connector.

4. The peeling control system for high-altitude operation according to claim 1, characterized in that: The model of the color sensor is LR-WF10. The power line of the LR-WF10 color sensor is connected to pin 1 of the fifth-pin connector, the ground line is connected to pins 2 and 3 of the fifth-pin connector, and the signal line is connected to pin 4 of the fifth-pin connector.

5. The peeling control system for high-altitude operation according to claim 1, characterized in that: The model of the stepper motor is BMP15, which is a two-terminal four-wire stepper motor. The signal lines 1B, 1A, 2A, and 2B of the BMP15 stepper motor correspond to pins 1, 2, 3, and 4 of the eighth-pin connector respectively.

6. The peeling control system for high-altitude operation according to claim 1, characterized in that: The model of the second brushless motor is B2430G. The power line and ground line of the B2430G brushless motor are connected to pins 1 and 4 of the ninth pin respectively. The PWM line, direction line and pulse feedback line of the B2430G brushless motor are connected to pins 5, 3 and 2 of the ninth pin respectively.

Images