Picking platform control system

Abstract

The utility model relates to the technical field of platform control systems, and discloses a picking platform control system. Comprising a USB interface circuit; and the USB-TTL circuit is matched with the USB interface circuit and comprises a first TXD pin, an STM32 main controller and a first RXD pin, and the first RXD pin is matched with the first TXD pin. A mobile platform control system is designed and completed, the moving direction and speed of the robot are controlled, and the efficient and flexible moving function is achieved. In an actual test, the moving speed of the apple picking robot needs to be moderate, and it can be ensured that the apple picking robot can safely and stably advance in an orchard.

Description

TECHNICAL FIELD

[0001] The utility model relates to platform control system technical field especially relates to a picking platform control system. BACKGROUND

[0002] Apple picking robot can replace a large number of manual picking work and avoid the fruit damage that manual picking can cause, improve picking efficiency and ensure fruit quality. The research on the design of its control system has important practical significance and far-reaching development significance, and can play a positive promoting role for the modernization of apple industry and the intelligent development of agriculture.

[0003] At present, there are many prototype machines in China to test in different regions, and some models can realize commercial application under certain conditions. However, the overall technical level still has certain gap compared with the international advanced level, especially in the autonomous navigation of robot, environmental adaptability and long-time stable operation. The research focuses on improving picking efficiency, ensuring fruit quality and reducing operation complexity. Especially for the moving direction and speed control of apple picking robot, it cannot be flexible and convenient to use. SUMMARY

[0004] This part aims to summarize some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this part and the abstract of the specification and the utility model name to avoid obscuring the purpose of this part, the abstract of the specification and the utility model name, and such simplifications or omissions cannot be used to limit the scope of the utility model.

[0005] In view of the above problems existing in the prior art picking platform control system, the utility model is proposed.

[0006] Therefore, the utility model aims to provide a picking platform control system, which aims to: solve the moving direction and speed control of apple picking robot.

[0007] To solve the above technical problems, the utility model provides the following technical scheme: a picking platform control system, comprising, USB interface circuit;

[0008] USB-TTL circuit matched with the USB interface circuit, the USB-TTL circuit comprises a first TXD pin and an STM32 main controller, and a first RXD pin matched with the first TXD pin.

[0009] As a preferred scheme of the picking platform control system, the USB to UART circuit is further included, the USB to UART circuit adopts a CP2102N controller, the CP2102N controller is provided with a second TXD pin and a second RXD pin, and the second TXD pin and the second RXD pin are connected with U0RX and U0TX on the ESP32 controller respectively.

[0010] As a preferred scheme of the picking platform control system, the STM32F103RB / CT6 microcontroller is adopted as the main controller, and the main controller includes 37 general I / O pins and general timers.

[0011] As a preferred scheme of the picking platform control system, the general timer is connected with a crystal oscillator, two vibration capacitors and a 1M adjusting resistor.

[0012] As a preferred scheme of the picking platform control system, the STM32F103RB / CT6 microcontroller further includes a reset unit and a filter unit, and a 22uF capacitor and a 0.1uF capacitor are connected in parallel at the power input section of the filter unit.

[0013] As a preferred scheme of the picking platform control system, the STM32F103RB / CT6 microcontroller further includes a burning port unit and a starting unit.

[0014] As a preferred scheme of the picking platform control system, the HM-GM37-550 direct current brush motor is adopted to provide track driving, the rated working voltage of the HM-GM37-550 direct current brush motor is 12V, and the maximum power is 40W.

[0015] As a preferred scheme of the picking platform control system, the double-path high-power direct current motor driving board is adopted as the driving chip, and the rated working voltage of the double-path high-power direct current motor driving board is 12V.

[0016] As a preferred scheme of the picking platform control system, the double-path high-power direct current motor driving board includes an H-bridge driving unit, a motor driving unit, a voltage boosting unit and a level conversion unit.

[0017] As a preferred scheme of the picking platform control system, the H-bridge driving unit includes four N-channel MOS tubes and an L6384D driving chip.

[0018] The utility model discloses the beneficial effect has: design and complete mobile platform control system, control the mobile direction and speed of robot, realize the function of efficient flexible movement. In actual test, the moving speed of apple picking robot needs to be moderate, can ensure that it can safely, stably travel in orchard. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme of the embodiment of the utility model, the following will be briefly introduced to the drawing needed to be used in the embodiment description, obviously, the drawing in the following description only some embodiments of the utility model, for the ordinary skilled person in the art, under the premise of not paying the creative labor, can also obtain other drawings according to these drawings. Wherein:

[0020] Figure 1 It is Jetson development board physical map of the utility model of a kind of picking platform control system.

[0021] Figure 2 It is the UART data frame format of the utility model of a kind of picking platform control system.

[0022] Figure 3 It is the data packet structure format of the utility model of a kind of picking platform control system.

[0023] Figure 4 It is the motion position coordinate diagram of the utility model of mobile platform.

[0024] Figure 5 It is the USB interface circuit diagram of the utility model of a kind of picking platform control system.

[0025] Figure 6 It is the USB-TTL circuit diagram of the utility model of a kind of picking platform control system.

[0026] Figure 7 It is the USB conversion UART circuit diagram of the utility model of a kind of picking platform control system.

[0027] Figure 8 It is the STM32F103RB / CT6 minimum system principle diagram of the utility model of a kind of picking platform control system.

[0028] Figure 9 It is the STM32F103RB / CT6 clock unit circuit diagram of the utility model of a kind of picking platform control system.

[0029] Figure 10 It is the STM32F103RB / CT6 reset unit circuit diagram of the utility model of a kind of picking platform control system.

[0030] Figure 11 STM32F103RB / CT6 filter unit circuit diagram of the picking platform control system of the utility model.

[0031] Figure 12 STM32F103RB / CT6 burning port unit circuit diagram of the picking platform control system of the utility model.

[0032] Figure 13 The utility model HM-GM37-550 direct current brush motor real object drawing.

[0033] Figure 14 The utility model two-way high-power direct current motor drive board real object drawing.

[0034] Figure 15 The utility model H bridge drive unit circuit diagram of the picking platform control system.

[0035] Figure 16 The utility model electric drive unit circuit diagram of the picking platform control system.

[0036] Figure 17 The utility model boost unit circuit diagram of the picking platform control system.

[0037] Figure 18 The utility model level conversion unit circuit diagram of the picking platform control system.

[0038] Figure 19 The utility model STM32F103RB / CT6 system mode selection circuit diagram of the picking platform control system. DETAILED DESCRIPTION

[0039] In order to make the above purpose, features and advantages of the utility model more obvious and easy to understand, the specific embodiment of the utility model is explained in detail below with the drawings of the specification.

[0040] In the following description, a lot of specific details are set forth in order to facilitate a full understanding of the utility model, but the utility model can also be implemented in other ways different from the description herein, and those skilled in the art can make similar generalization without departing from the connotation of the utility model, therefore the utility model is not limited by the specific embodiments disclosed below.

[0041] Secondly, the "one embodiment" or "embodiment" referred to here can include specific features, structures or characteristics in at least one implementation of the utility model. In this specification, "in one embodiment" does not mean the same embodiment, nor is it an independent or alternative embodiment that excludes other embodiments.

[0042] Thirdly, the utility model in combination with the schematic diagram is described in detail, in detail the utility model embodiment, for easy to illustrate, the section view of device structure will not be enlarged locally according to general proportion, and the schematic diagram is only example, it should not limit the range of the utility model protection here. In addition, three-dimensional spatial dimensions of length, width and depth should be contained in actual manufacture.

[0043] Embodiment 1

[0044] Refer to Figure 1 For the first embodiment of the utility model, a kind of development board of picking platform control system is provided, and the hardware structure of Jetson development board integrates multiple interfaces and function modules, satisfies the various needs of apple picking robot.Jetson development board hardware structure mainly includes DP interface, HDMI interface, integrated radiator, power interface, 40pin I / O interface, HDMⅠ interface, Micro USB interface, RJ45 gigabit network interface, and its actual drawing is as shown in Figure 1 The DP interface is used to connect external display, which is convenient for operator to observe the working state of robot and battery capacity in real time. The HDMI interface is similar to the DP interface, as a backup display output interface, to meet the needs of different application scenarios. The Jetson development board is equipped with an integrated radiator, which can dissipate the heat generated during the working process, keeping the temperature of the development board within the normal working range. The power interface is used to connect external power supply, to provide the required power for the development board. The Jetson development board can connect various external devices through the 40pin I / O interface, and the Micro USB interface can connect the computer for data transmission and program debugging. The RJ45 gigabit network interface is used to connect the network, through the RJ45 gigabit network interface, the Jetson development board can be connected to LAN or Internet, to realize remote transmission and sharing of data.

[0045] Embodiment 2

[0046] Refer to

[0047] Refer to Figures 2-4The second embodiment of the utility model, this embodiment is different from the first embodiment: solve the mobile platform serial communication design problem. In the motion control system design of apple picking robot, UART communication protocol plays a vital role, it is responsible for the data transmission and control instruction sending between the robot and external equipment. UART communication protocol is a kind of asynchronous serial communication protocol, in serial transmission, every character is transmitted in series by bit, to ensure that the receiving end correctly receives information, the receiving end needs to understand the time interval of every bit, i.e. transmission rate;At the same time, the starting and ending position of every character or byte, i.e. character synchronization, need to be determined. Serial transmission usually adopts two methods of asynchronous transmission and synchronous transmission. In asynchronous transmission, the clock of transmitter and receiver is not synchronized. The asynchronous transmission mode in serial communication is adopted in this paper, and every character transmitted in asynchronous transmission contains 1 start bit, 1 stop bit, 8 data bits, no parity check bit, and the UART data frame format is as shown in Figure 2

[0048] In order to reduce the data transmission error rate between communication equipment, check code is added in the data transmission protocol. The code with check code is composed of two parts of body code and check code, the body code represents the number of coding object, and the check code is attached behind the body code. Each body code can only have one check code, and the check code is obtained through the specified mathematical relationship. The check principle of check code is: the system internally sets up the check program prepared according to the check formula derived by the check method. When the communication equipment receives the code with check code, the system uses the check program to operate the received body code to obtain the check result, and then compares the check result with the check code in the received code to detect the correctness of transmission.

[0049] Compared with embodiment 1, further, the data transmission between mobile processor and mobile platform system is completed through the serial communication interface of STM32 single-chip microcomputer, realizing the input and output of data. When using serial port, in order to ensure the correctness and stability of data transmission, corresponding driver program and communication protocol need to be used, and the serial communication parameter setting is shown in table 1.

[0050]

[0051] Table 1 UART communication protocol parameter table

[0052] In this embodiment, the structure of UART data packet contains data start bit, effective data length except start bit, command type, X axis direction, X axis linear velocity, Y axis direction, Y axis linear velocity, Z axis angular velocity direction, around Z axis velocity and two data check bits, and the data packet structure format is as shown in Figure 3 Figure 4 ​​indicated.

[0053] Wherein, the data start bit is default bit 0x21, 0x21, except that the effective data length of the start bit is 10 bits, the command type is similar to be set as a fixed value 0x00, the car x-axis direction 0x00 represents backward, 0x01 represents forward, the car y-axis direction 0x00 represents left translation, 0x01 represents right translation, the x, y axis speed unit is set as cm / s, the Z-axis angular velocity direction 0x00 represents clockwise rotation, 0x01 represents counterclockwise rotation, the Z-axis rotation speed unit is set as 0.01 rad / s, and the two data check bits are respectively the low 8 bits and the high 8 bits of the sum of the first 10 data of a frame of data, and a specific data packet instruction sample is shown in Table 2.

[0054]

[0055] Table 2: Mobile platform data packet instruction table

[0056] Embodiment 3

[0057] Referring to Figures 5-7 For the third embodiment of the utility model, which is different from the second embodiment is:

[0058] The USB interface circuit 100 is used for realizing the USB communication between the mobile platform and the mobile processor, and the USB-TTL circuit 200 is used for realizing the conversion of UART signals and USB signals. When the STM32 main controller 202 sends data, the data is sent out through the TXD pin 201. When the external device sends data to the STM32 main control, the data is received through the RXD pin 203.

[0059] In the embodiment, the CP2102N is a highly integrated USB-to-UART bridge controller, and the USB-to-UART protocol conversion is realized in the CP2102N controller 301. The second TXD pin 302 and the third RXD pin 303 of the CP2102N controller 301 are connected with the U0RX and the U0TX of the ESP32. When the mobile processor sends data to the picking platform control system through the USB interface, the CP2102N converts the USB data format into the UART data format, and the converted UART data can be transmitted to the ESP32. The ESP32 main controller is a controller selected when the mobile platform cooperates with the mechanical picking arm, has high computing performance and rich peripheral interfaces, and can meet the control requirements of the system.

[0060] The remaining structure is the same as that of the embodiment 2.

[0061] Embodiment 4

[0062] Referring to Figures 8-12 ,Figure 19 For the fourth embodiment of the utility model, the embodiment is different from the third embodiment: the system adopts STM32F103RB / CT6 microcontroller 400 as the main controller, has the characteristics of strong performance, rich peripherals, low power consumption, wide temperature range, etc., and is suitable for various control and embedded applications. The STM32F103RB / CT6 microcontroller 400 is based on the ARM Cortex-M3 core, with a main frequency of 72MHz, and has high computing performance and response speed.

[0063] Compared with embodiment 3, further, the STM32F103RB / CT6 microcontroller minimum system principle diagram as shown in Figure 8 Has 37 general I / O pins 401, including multiple general timers 402, universal serial bus (USART, SPI, I2C), ADC / DAC converters, etc., suitable for various peripheral interfaces and control requirements. At the same time, its 64KB Flash memory and 20KBRAM can store program code and data.

[0064] In this embodiment, the general timer 402 is connected with one crystal oscillator 402a, two start capacitors 402b and one 1M adjusting resistor 402c, and the function of the general timer 402 is to provide the high-precision clock signal required for the work of STM32, so as to ensure the stability and accuracy of the system.

[0065] In this embodiment, the function of the reset unit 404 is to restore the internal state of the STM32 microcontroller to the initial value, so as to ensure that the system can start normally. When the system is powered on, the reset signal is automatically generated, so that the microcontroller enters the initial state. The reset operation can also be triggered by an external button. The STM32F103RB / CT6 reset unit 404 circuit is as shown in Figure 10 .

[0066] In this embodiment, the filter unit 405 mainly includes two types of capacitors, 22uF and 0.1uF, a 22uF capacitor 405a is connected in parallel at the power input end, which is used to filter out low-frequency noise; at the same time, a 0.1uF capacitor 405b is connected in parallel, which is used to filter out high-frequency noise. The filter circuit can improve the quality and stability of the power supply, reduce the influence of noise and voltage fluctuation on the single-chip microcomputer, and ensure that the single-chip microcomputer can work reliably. The circuit of the filter unit 405 is as shown in Figure 11 .

[0067] In this embodiment, the burning port unit 406 is used to download the compiled program code into the internal flash memory of the STM32 microcontroller. Common burning methods include SWD (Serial Wire Debug) and JTAG (Joint Test Action Group). SWD only needs two data lines, occupies less resources, while JTAG needs more pins, but provides more rich debugging functions. This paper adopts SWD burning method, and the burning port unit 406 circuit diagram of STM32F103RB / CT6 is as shown in Figure 12 .

[0068] In the utility model, STM32 has multiple startup modes, which can be selected by setting the level of the startup pin. Common startup modes include starting from internal flash memory, starting from system memory (for system update or factory programming) and starting from external memory, etc. In this embodiment, the startup unit 407 circuit diagram of the system mode selection of STM32 is as shown in Figure 19 .

[0069] Among them, the state of BOOT0 and BOOT1 pins is selected, and the pin selection and the corresponding startup mode are shown in Table 3.

[0070]

[0071] Table 3: STM32F103RB / CT6 system startup mode table

[0072] The rest of the structure is the same as that of example 3.

[0073] Example 5

[0074] Referring to Figures 13-14 , the fifth embodiment of the utility model, which is different from the fourth embodiment is:

[0075] The system adopts HM-GM37-550 DC brush motor (500) to provide track driving, the rated working voltage of the HM-GM37-550 DC brush motor (500) is 12V, the maximum power is 40W, and the actual motor diagram is as shown in Figure 13 .

[0076] Among them, the front end of the motor output shaft is equipped with a 1:30 gear reduction mechanism, which can output stable speed and torque, and will not fluctuate greatly due to external load changes, and the performance parameter table of HM-GM37-550 DC brush motor is shown in Table 4.

[0077]

[0078]

[0079] Table 4: HM-GM37-550 DC brush motor performance parameter table

[0080] In this embodiment, considering that two DC brush motors can realize double forward rotation, double reverse rotation and separate rotation, and accurate speed control is required, a double-path high-power DC motor driving board 600 is selected as the driving chip, and the specific physical object is as shown in Figure 14 .

[0081] Among them, the specific working parameters of the double-path high-power DC motor driving board are shown in Table 5.

[0082]

[0083] Table 5: Working parameters of double-path high-power DC motor driving board

[0084] In this embodiment, the rated working voltage of the double-path high-power DC motor driving board 600 is 12V, which matches the power supply system of the mobile platform and can provide stable and reliable power output. The driver has high current output capability, which can meet the working requirements of the mobile platform motor, including high current impact during starting, and has various protection functions such as overcurrent, overvoltage, overload protection, etc., which can protect the motor and the driver itself, and ensure the safe operation of the system in abnormal conditions. In addition, the double-path high-power DC motor driving board has good control performance and communication interface, which can realize stable and reliable communication and control with the STM32 main controller of the mobile platform. Its communication interface may use common serial communication protocols, which is easy to integrate into the entire system.

[0085] Embodiment 6

[0086] Referring to Figures 15-18 , the fifth embodiment of the utility model, which is different from the fourth embodiment is: the double-path high-power DC motor driving board 600 includes H-bridge driving unit 601, motor driving unit 602, boost unit 603 and level conversion unit 604, and each unit circuit is as shown in Figures 15-17 .

[0087] The single-channel H-bridge driving circuit is mainly composed of four N-channel MOS transistors and an L6384D driving chip. Taking the J2 motor as an example, when the IN2_1 port input level is high and the IN2_2 port input level is low, the MOS transistors Q5 and Q8 are saturated and turned on, Q7 and Q6 are turned off, the current flows from the motor No. 1 pin to the No. 2 pin, and the motor rotates forward; when the IN2_1 port input level is low and the IN2_2 port input level is high, the MOS transistors Q7 and Q6 are saturated and turned on, Q5 and Q8 are turned off, and the motor reverses; when the input levels of the IN2_1 port and the IN2_2 port are the same, the motor stops. The voltage stabilizing circuit uses a 78M05 linear voltage stabilizing chip to convert the unstable battery input voltage into stable 5V direct current. The boost circuit mainly includes an MC34063 chip and a boost diode circuit, which utilizes the one-way conductivity of the diode to realize the boost function by connecting a resistor in parallel with the diode, and converts 5V direct current into 14V voltage. The level conversion circuit is mainly composed of an LM393 operational amplifier chip, which utilizes the LM393 and a voltage dividing resistor to build a voltage comparison circuit to realize high-low voltage conversion. The H-bridge control signal and the motor state truth table are shown in Table 6.

[0088]

[0089] Table 6: H-bridge control signal and motor state truth table

[0090] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application, and all should be covered in the scope of the claims of the present application.

Claims

1. A picking platform control system, characterized by: The utility model relates to a kind of DC motor control system, including, USB interface circuit (100); USB-TTL circuit (200) cooperating with the USB interface circuit (100), the USB-TTL circuit (200) includes first TXD pin (201) and STM32 main controller (202), and first RXD pin (203) is arranged in cooperation with the first TXD pin (201); USB to UART circuit (300), the USB to UART circuit (300) uses CP2102N controller (301), the CP2102N controller (301) is provided with second TXD pin (302) and second RXD pin (303), and the second TXD pin (302) is connected with U0RX, U0TX on ESP32 controller respectively with the second RXD pin (303); HM-GM37-550 DC brush motor (500) provides track drive; Double-path high-power DC motor drive board (600), the output end of the STM32 main controller (202) is connected with the input end of the double-path high-power DC motor drive board (600), and the output end of the double-path high-power DC motor drive board (600) is connected with the HM-GM37-550 DC brush motor (500), to drive the motor (500) and control its rotating speed and steering.

2. The picking platform control system of claim 1, wherein: The system uses STM32F103RB / CT6 microcontroller (400) as main controller, which includes 37 general-purpose I / O pins (401) with the same structure, general-purpose timer (402).

3. The picking platform control system of claim 2, wherein: The general-purpose timer (402) is connected with a crystal oscillator (402a), two start capacitors (402b) and a 1M adjusting resistor (402c).

4. The picking platform control system of claim 3, wherein: The STM32F103RB / CT6 microcontroller (400) also includes a reset unit (404) and a filter unit (405), and the power input section of the filter unit (405) is provided with a 22uF capacitor (405a) and a 0.1uF capacitor (405b) in parallel.

5. The picking platform control system of claim 4, wherein: The STM32F103RB / CT6 microcontroller (400) also includes a burning port unit (406) and a starting unit (407).

6. The picking platform control system of claim 5, wherein: The system uses the HM-GM37-550 DC brush motor (500) with a rated operating voltage of 12V and a maximum power of 40W.

7. The picking platform control system of claim 6, wherein: The rated operating voltage of the double-path high-power DC motor drive board (600) is 12V.

8. The picking platform control system of claim 7, wherein: The double-path high-power DC motor drive board (600) includes an H-bridge drive unit (601), a motor drive unit (602), a boost unit (603) and a level conversion unit (604).

9. The picking platform control system of claim 8, wherein: The H-bridge drive unit (601) includes four N-channel MOS tubes and an L6384D drive chip.

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