Motion control module of mobile robot

Abstract

The utility model relates to a motion control module of a mobile robot, which comprises a high-performance microcontroller unit MCU (Microprogrammed Control Unit), an expansion storage unit, a real-time temperature acquisition unit, an emergency stop and drop detection unit, a power supply management system and a three-color lamp, and is characterized in that the high-performance microcontroller unit MCU adopts a microcontroller with an ARM Cortex-M4 kernel; the communication interface completes efficient data exchange with an upper computer, a driver and a remote controller through two CAN interfaces, one RS232 debugging serial port and one S.BUS remote controller receiving interface. According to the utility model, modular design is adopted, function upgrading and maintenance are facilitated, the MCU is connected with an external storage unit through interfaces such as SPI, IIC, XMC and the like, data storage and rapid access are ensured, bidirectional communication with a driver and an upper computer is realized through a CAN interface, remote control signal receiving and analysis are completed through an S.BUS protocol, and accurate execution of designation is ensured.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot technology, and in particular to a motion control module for a mobile robot. Background Technology

[0002] Coal mines are characterized by high temperatures, humidity, dust, and high levels of toxic and harmful gases. Traditionally, inspections were conducted manually. However, the narrow and complex terrain of underground mine tunnels makes it easy for manual drivers or ordinary equipment to get trapped or collide. Manual inspections in underground tunnels are inefficient in terms of data collection, recording, and analysis, and may result in omissions or misjudgments. The slow feedback of inspection information and delayed decision-making pose high safety risks, making it difficult for the movement of operating equipment to adapt to the underground environment. Summary of the Invention

[0003] This utility model aims to address the shortcomings of existing technologies by providing a motion control module for a mobile robot.

[0004] To achieve the above objectives, this utility model adopts the following technical solution:

[0005] A mobile robot motion control module includes a high-performance microcontroller unit (MCU), an extended storage unit, a real-time temperature acquisition unit, an emergency stop and fall detection unit, a power management system, and tri-color LEDs. The high-performance MCU uses an ARM Cortex-M4 core. The extended storage unit has 16MB of external SPI FLASH memory via an SPI interface and 8KB of external memory via an IIC interface. The system includes an EEPROM and an external 1MB SRAM via the XMC interface. Communication interfaces include two CAN interfaces, one RS232 debug serial port, and one S·BUS remote control receiver interface for efficient data exchange with the host computer, driver, and remote control. The real-time temperature acquisition unit uses a temperature sensor chip and communicates with the high-performance microcontroller unit (MCU) via a single-bus protocol. The emergency stop and drop detection unit includes a drop sensor and an emergency stop button. The drop sensor is connected to the MCU via two digital switches, and the emergency stop button is electrically connected to the MCU. The power management system uses XL4003 and BL9309 power chips to divide the external power supply into two parts: a 3.3V supply for the MCU and peripheral interface circuits, and a 5V supply specifically for the two CAN interfaces. The MCU controls the tri-color LEDs.

[0006] The external power supply is converted to 5V by the Chipone XL4003 to power the two CAN interfaces, and then outputs 3.3V through the BL9309 to power the internal logic part of the high-performance temperature controller unit MCU and to output externally.

[0007] The temperature sensor has a user-programmable accuracy of 9, 10, 11, or 12 bits, with temperature resolutions of 0.5℃, 0.25℃, 0.125℃, and 0.0615℃, respectively.

[0008] The remote control receiving interface adopts the S·BUS protocol and provides power supply and signal interfaces. S·BUS uses reverse level transmission, and a high-low level inverter is added to the S·BUS receiving end to perform level conversion.

[0009] The tri-color light is a waterproof metal tri-color signal light with an opening size of 3mm, a rated current of ≤20mA, a waterproof rating of IP67, and a common anode.

[0010] The high-performance temperature controller unit (MCU) is connected to an RTC circuit via an IIC interface.

[0011] The beneficial effects of this utility model are: This utility model adopts a modular design, which facilitates functional upgrades and maintenance. The MCU connects to the external storage unit through interfaces such as SPI, IIC, and XMC to ensure data storage and fast access. It realizes bidirectional communication with the driver and the host computer through the CAN interface. The remote control signal reception and parsing are completed through the S·BUS protocol to ensure accurate execution of the specified commands. Attached Figure Description

[0012] Figure 1 This is a framework diagram of the present utility model;

[0013] Figure 2 This is a schematic diagram of the overall power supply frame of this utility model;

[0014] Figure 3 This is a schematic diagram of the inverter connection of this utility model;

[0015] The following will describe in detail the embodiments of this utility model with reference to the accompanying drawings. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0017] A mobile robot motion control module includes a high-performance microcontroller unit (MCU), an extended storage unit, a real-time temperature acquisition unit, an emergency stop and fall detection unit, a power management system, and tri-color LEDs. The high-performance MCU uses an ARM Cortex-M4 core. The extended storage unit has 16MB of external SPI FLASH memory via an SPI interface and 8KB of external memory via an IIC interface. The system includes an EEPROM and an external 1MB SRAM via the XMC interface. Communication interfaces include two CAN interfaces, one RS232 debug serial port, and one S·BUS remote control receiver interface for efficient data exchange with the host computer, driver, and remote control. The real-time temperature acquisition unit uses a temperature sensor chip and communicates with the high-performance microcontroller unit (MCU) via a single-bus protocol. The emergency stop and drop detection unit includes a drop sensor and an emergency stop button. The drop sensor is connected to the MCU via two digital switches, and the emergency stop button is electrically connected to the MCU. The power management system uses XL4003 and BL9309 power chips to divide the external power supply into two parts: a 3.3V supply for the MCU and peripheral interface circuits, and a 5V supply specifically for the two CAN interfaces. The MCU controls the tri-color LEDs.

[0018] The external power supply is converted to 5V by the Chipone XL4003 to power the two CAN interfaces, and then outputs 3.3V through the BL9309 to power the internal logic part of the high-performance temperature controller unit MCU and to output externally.

[0019] The temperature sensor has a user-programmable accuracy of 9, 10, 11, or 12 bits, with temperature resolutions of 0.5℃, 0.25℃, 0.125℃, and 0.0615℃, respectively.

[0020] The remote control receiving interface adopts the S·BUS protocol and provides power supply and signal interfaces. S·BUS uses reverse level transmission, and a high-low level inverter is added to the S·BUS receiving end to perform level conversion.

[0021] The tri-color light is a waterproof metal tri-color signal light with an opening size of 3mm, a rated current of ≤20mA, a waterproof rating of IP67, and a common anode.

[0022] The high-performance temperature controller unit (MCU) is connected to an RTC circuit via an IIC interface.

[0023] Example 1

[0024] A mobile robot motion control module includes a high-performance microcontroller unit (MCU), an extended storage unit, a real-time temperature acquisition unit, an emergency stop and drop detection unit, a power management system, and tri-color LEDs. The MCU utilizes the Arterion AT32F435ZMT7 microcontroller with an ARM Cortex-M4 32-bit RISC core, operating at a maximum frequency of 288MHz. The core includes a single-precision floating-point unit, 256Kb of zero-wait flash memory, 3776Kb of non-zero-wait flash memory, and a maximum SRAM of 512Kb. The MCU features standard communication interfaces: three I2C interfaces, four SPI interfaces, four USART and four UART interfaces, and two CAN interfaces. It supports external SPI FLASH via the SPI interface, 8KB of EEPROM via the IIC interface, and 1MB of SRAM via the XMC interface, meeting the controller's storage capacity expansion requirements. Two digital inputs are provided: one for detecting external input signal status and the other for drop sensor input, with a low effective voltage of 0V indicating a low level. The voltage is divided by resistors and capacitors, and the result is sent to the MCU. Low input is active, and an external pull-up resistor is required. One controller emergency stop input: When the controller emergency stop button is pressed, it receives an emergency stop signal and responds by stopping the device. When an external emergency stop signal is triggered, it is isolated by a domestic optocoupler LTV-217 (compatible with Toshiba TLP291) and sent to the MCU. The software then issues and processes the relevant emergency stop commands. Two CAN interfaces: The high-performance microcontroller unit (MCU) supports two CAN communication interfaces. The CAN interface chip is SCM3425ASA. With a baud rate up to 5Mbps, it meets the requirements; the single-channel remote control receiver interface uses the S·BUS protocol, providing power and signal interfaces. S·BUS uses reverse level transmission, where high and low levels are reversed at the transmitting end. All high levels in the protocol are converted to low levels, and all low levels are converted to high levels. The tri-color indicator uses a waterproof metal tri-color indicator light with a 3mm opening, rated current ≤20mA, IP67 waterproof rating, and common anode. Its operating status is directly indicated by a high-performance microcontroller unit (MCU). The RS232 debugging serial port uses the Silergy TP3232N. The RS232 driver / receiver operates from 3V to 5.5V and supports high serial data rates up to 470Kbps, meeting the requirements of 9600bps to 256Kbps. The real-time temperature acquisition unit uses the GalaxyCore GX18B20 chip. The temperature sensor's accuracy is user-programmable at 9, 10, 11, or 12 bits, with temperature resolutions of 0.5℃, 0.25℃, 0.125℃, and 0.0615℃, respectively.The chip has a default precision of 12 bits when powered on. It communicates with the high-performance microcontroller unit (MCU) using a single-bus protocol, occupying only one I / O port on the main control circuit. This allows for temperature measurement even with limited I / O resources. The circuit design is simple, and the single-bus design saves wiring space. The power management system is divided into two parts: a 3.3V supply for the MCU and peripheral interface circuits, and a 5V supply for the two CAN interfaces. External power is converted to 5V via the Xinlong XL4003, and then output as 3.3V via the BL9309 to power the internal logic section and output externally. The XL4003 supports a wide input voltage range of 5V to 32V, with an adjustable output voltage, a minimum voltage drop of 0.6V, a fixed switching frequency of 300kHz, and a maximum output current capability of 4A. It features low ripple, excellent linearity and load regulation, and incorporates a fixed-frequency oscillator and compensation circuitry, simplifying circuit design. It also features overheat shutdown, current limiting, and output short-circuit protection.

[0025] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0027] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0028] The present invention has been described above with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any improvements made using the inventive concept and technical solution of the present invention, or direct application to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A motion control module for a mobile robot, characterized in that, It includes a high-performance microcontroller unit (MCU), an extended memory unit, a real-time temperature acquisition unit, an emergency stop and drop detection unit, a power management system, and tri-color LEDs. The high-performance microcontroller unit (MCU) uses an ARM Cortex-M4 core. The extended memory unit has 16MB of external SPI FLASH connected via an SPI interface and 8KB of external storage via an IIC interface. The system includes an EEPROM and an external 1MB SRAM via the XMC interface. Communication interfaces include two CAN interfaces, one RS232 debug serial port, and one S·BUS remote control receiver interface for efficient data exchange with the host computer, driver, and remote control. The real-time temperature acquisition unit uses a temperature sensor chip and communicates with the high-performance microcontroller unit (MCU) via a single-bus protocol. The emergency stop and drop detection unit includes a drop sensor and an emergency stop button. The drop sensor is connected to the MCU via two digital switches, and the emergency stop button is electrically connected to the MCU. The power management system uses XL4003 and BL9309 power chips to divide the external power supply into two parts: a 3.3V supply for the MCU and peripheral interface circuits, and a 5V supply specifically for the two CAN interfaces. The MCU controls the tri-color LEDs.

2. The motion control module for a mobile robot according to claim 1, characterized in that, The external power supply is converted to 5V by the Chipone XL4003 to power the two CAN interfaces, and then outputs 3.3V through the BL9309 to power the internal logic part of the high-performance temperature controller unit MCU and to output externally.

3. The motion control module for a mobile robot according to claim 2, characterized in that, The temperature sensor has a user-programmable accuracy of 9, 10, 11, or 12 bits, with temperature resolutions of 0.5℃, 0.25℃, 0.125℃, and 0.0615℃, respectively.

4. A mobile robot motion control module according to claim 3, characterized in that, The remote control receiving interface adopts the S·BUS protocol and provides power supply and signal interfaces. S·BUS uses reverse level transmission, and a high-low level inverter is added to the S·BUS receiving end to perform level conversion.

5. A mobile robot motion control module according to claim 4, characterized in that, The tri-color light is a waterproof metal tri-color signal light with an opening size of 3mm, a rated current of ≤20mA, a waterproof rating of IP67, and a common anode.

6. A mobile robot motion control module according to claim 5, characterized in that, The high-performance temperature controller unit (MCU) is connected to an RTC circuit via an IIC interface.

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