Universal driving system of self-adaptive multi-wheel bottom plate

Abstract

The utility model provides a universal driving system of a self-adaptive multi-wheel bottom plate, and belongs to the field of robots. According to the system provided by the utility model, the main control system receives sensing data of the sensing system and controls the driving system to realize the movement of the bottom plate; through connection of the communication system and the master control system, communication between the master control system and the cooperative system is realized, so that functions of the master control system are expanded. The main control system is responsible for data processing; the sensing system provides basic parameters of bottom plate movement; the driving system realizes movement of the bottom plate; the communication system is responsible for communication between the systems; the cooperative system is responsible for function expansion of the master control system. In conclusion, basic motion control and data acquisition of the bottom plate can be realized. Particularly, a dual-system cooperation mode is introduced, and two same driving systems are connected, so that the use scenes of the driving systems are expanded, the driving systems can adapt to various motion modes, and meanwhile, the reusability and the application range of the system are improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a universal drive system for an adaptive multi-wheeled base plate. Background Technology

[0002] In the fields of automation and robotics, multi-wheeled platform drive systems are a key technology for realizing mobile robots and automated transportation equipment. With the rapid development of industrial automation, agricultural machinery, and service robots, higher requirements are being placed on the applicability of multi-wheeled platform drive systems. Existing systems typically focus on specific application scenarios, relying heavily on single control schemes and communication protocols, resulting in limited applicability and restricting their performance in diverse tasks, making it difficult to adapt to changing working environments and task requirements. Because microcontroller serial communication has full-duplex characteristics, the drive system can be reused by reusing the microcontroller's USART peripheral, enabling its expansion to meet a wider range of application needs.

[0003] Existing technologies include solutions based on implementing differential motion of the two wheels on the base plate, or base plate four-wheel drive solutions based on STM32F4 series chips, or base plate drive systems based on Arduino. However, in the field of robotics, to ensure integration, a single base plate drive system is usually used. Therefore, there are problems of solution homogenization and poor functional reusability between systems.

[0004] Therefore, a universal drive system with an adaptive multi-wheel base is needed. Summary of the Invention

[0005] In view of this, the present invention provides a universal drive system for an adaptive multi-wheel base plate. By adopting a dual-system collaborative unit, the universal design of the drive system is realized, thereby increasing the applicability of the drive system.

[0006] Therefore, the present invention provides the following technical solution:

[0007] A universal drive system with an adaptive multi-wheel chassis includes:

[0008] Main control system, sensing system, drive system;

[0009] The sensing system collects a first signal and sends it to the main control system;

[0010] The main control system sends the first signal to the drive system;

[0011] The drive system drives the drive system to operate;

[0012] The drive system includes: a motor drive unit and a servo drive unit.

[0013] Furthermore, it also includes: collaborative systems and communication systems;

[0014] The sensing system collects the second signal and sends it to the collaborative system;

[0015] The collaborative system transmits the second signal to the main control system through the communication system;

[0016] The main control system sends the first signal and the second signal to the drive system.

[0017] Furthermore, the collaborative system includes:

[0018] Cloud network unit, Linux unit, and dual-system collaborative unit.

[0019] Furthermore, the communication system includes:

[0020] System communication unit and remote communication unit.

[0021] Furthermore, the cloud network unit sends the second signal to the main control system through the remote communication unit;

[0022] The Linux unit sends the second signal to the main control system through the remote communication unit;

[0023] The dual-system collaborative unit sends the second signal to the main control system through the system communication unit.

[0024] Furthermore, the remote communication unit includes: Wi-Fi communication and LoRa communication;

[0025] The system communication unit includes CAN bus communication and serial port communication.

[0026] Furthermore, the main control system includes several microcontroller minimum systems.

[0027] Furthermore, the sensing system includes:

[0028] Attitude sensors, encoders, and analog-to-digital converters;

[0029] The attitude sensor measures acceleration and angular velocity;

[0030] The encoder measures the motor rotation speed;

[0031] The digital-to-analog converter measures the battery voltage.

[0032] Advantages and positive effects of this utility model:

[0033] This invention employs a variety of functional chips connected to the main control system, making full use of all pins and peripherals of the microcontroller to maximize microcontroller resource utilization and solve the problem of limited functionality in traditional drive systems. It also utilizes a dual-system collaborative unit to connect two identical drive systems via the microcontroller's USART peripheral, expanding the applicability of the drive systems and achieving universal design, thus addressing the poor reusability of traditional drive systems. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is the overall system framework of an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of the dual-system collaborative mode connection in Embodiment 2 of the present invention;

[0037] Figure 3 This is the dual-system collaborative mode connection and communication process of Embodiment 2 of the present invention;

[0038] Figure 4 This is the timing sequence for the dual-system collaborative mode connection communication in Embodiment 2 of the present invention. Detailed Implementation

[0039] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0040] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0041] This utility model provides a universal drive system with an adaptive multi-wheel base plate, such as... Figure 1 As shown, it includes: main control system, sensing system, communication system, motion drive system, and coordination system;

[0042] The main control system consists of a single-chip microcomputer minimum system, which provides data processing and communication functions for this system;

[0043] The sensing system consists of an attitude sensor, an encoder, and a digital-to-analog converter, which provides data on the basic motion parameters of the base plate for this system.

[0044] The drive system consists of motor drive and servo drive, providing the system with the function of motion and adapting to different motion modes;

[0045] Remote communication provides this system with the function of long-distance communication;

[0046] System communication refers to the function of communication between this system and other adjacent systems.

[0047] The collaborative system consists of a cloud network, a Linux system, and a dual-system collaborative mode. By exchanging data with the collaborative system, the basic functions of this system can be expanded.

[0048] The attitude sensor provides acceleration and angular velocity measurements for this system; the encoder provides motor rotation speed measurements; and the digital-to-analog converter provides battery voltage measurements.

[0049] Wi-Fi communication: The communication system is equipped with a Wi-Fi interface, which is compatible with Wi-Fi communication systems that support serial communication, such as the ESP8266 module; LoRa communication: The communication system is equipped with a LoRa interface, which is compatible with LoRa communication systems that support SPI communication, such as the SX1278 module.

[0050] CAN bus communication serves as the communication interface between this system and other systems that support CAN bus communication, enabling data exchange with such systems; serial port communication serves as the communication interface between this system and other systems that support serial port communication, enabling data exchange with such systems, and also providing the communication foundation for forming a dual-system collaborative mode.

[0051] The electric motor drive provides the basic motion function of this system, and the system moves by driving the motor to rotate; the servo motor drive enables the system to adapt to different motion modes.

[0052] The cloud network provides high-performance computing resources for this system, helping to handle large-scale computing tasks; the Linux system enables the implementation of different algorithms, such as voice control and path planning algorithms; the dual-system collaborative mode allows data interaction between two identical driver systems, expanding the scope of use of the main control system.

[0053] Example 1

[0054] In this embodiment, the main control chip's basic peripherals control and process data for the three systems within the drive system. Simultaneously, the sensing system detects parameters of the baseboard itself, such as acceleration, angular velocity, and battery level. The communication system enables this drive system to collaborate with other systems (e.g., cloud networks and Linux systems) for data processing, thereby improving the drive system's data processing capabilities.

[0055] Example 2

[0056] This utility model also includes a communication connection method for the drive system in a dual-system cooperative mode, such as... Figure 2 As shown, this mode relies on two USART peripherals of the master control chip to achieve data communication between different systems. In the dual-system collaborative mode, the master's USART2 is connected to the slave's USART1 to achieve data exchange. The master obtains the slave's sensor information by sending different commands and simultaneously sends control commands. A clock line is added to ensure the time synchronization of data exchange. The master's USART1 and the slave's USART2 can be connected to a Linux system and a Wi-Fi module respectively, and system performance can be improved by connecting to a cloud network or running complex algorithms.

[0057] like Figure 3As shown, the master first pulls the clock line low and sends a control request command to the slave. After receiving the command, the slave sends a reception success flag to the master. Then, the master needs to determine if it received the flag. If the flag is not received, communication is terminated and an error flag is returned to the slave. If the flag is received, the master continues to send control commands to the slave. After receiving the command, the slave sends sensor data or controls the drive system according to the command requirements and ends communication.

[0058] like Figure 4 As shown, the drive system of this utility model is in Figure 3 Based on the illustrated communication flow, the communication protocol is described. The communication process begins with the master generating a falling edge on the clock line, indicating the start of communication between the systems. Subsequently, the master sends a request control command to the slave, and the slave receives the request command and sends a successful reception flag to the master. Upon receiving the flag, the master sends a control command to the slave. After receiving the control command, the slave sends data to the master. Once the master has received the data, it generates a rising edge on the clock line, indicating the end of one communication cycle between the systems. This process ensures the stability and consistency of data reception between the two systems.

[0059] This invention utilizes the basic hardware configuration of a microcontroller to achieve functions such as serial communication, attitude sensor data reading, PWM speed control of motor speed, and timer detection of motor speed, thereby completing the basic motion control of the base plate. Through the multiplexing of the microcontroller's USART peripheral, cascaded control of two drive systems is realized. By connecting the USART1 and USART2 interfaces of the two drive systems, data transmission and control are achieved, providing a communication foundation for the implementation of a dual-system collaborative mode. A synchronous clock control line ensures time synchronization during data reception and processing, enhancing the system's synchronization performance.

[0060] By introducing a multi-system collaborative mode, data interaction between two identical systems not only enhances the system's data processing capabilities but also improves its flexibility and adaptability. Furthermore, unused USART ports can be used for communication with Linux systems and remote communication, effectively expanding the applicability of the driver system. This collaborative mode enables the system to adapt to different baseboard movement modes, saving development costs and improving the system's reusability and applicability.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A universal driving system for adaptive multi-wheel chassis, characterized in that, The application relates to a main control system, a sensing system, a driving system, a cooperative system and a communication system. The driving system comprises a motor driving unit and a steering engine driving unit. The cooperative system comprises a cloud network unit, a Linux unit and a double-system cooperative unit. The communication system comprises a system communication unit and a remote communication unit. The sensing system collects a first signal and sends the first signal to the main control system. The sensing system collects a second signal and sends the second signal to the cooperative system. The cooperative system transmits the second signal to the main control system through the communication system. The main control system sends the first signal and the second signal to the driving system. The driving system drives the driving system to move. The cloud network unit sends the second signal to the main control system through the remote communication unit. The Linux unit sends the second signal to the main control system through the remote communication unit. The double-system cooperative unit sends the second signal to the main control system through the system communication unit. The remote communication unit comprises Wi-Fi communication and Lora communication.

2. The adaptive multi-wheel chassis universal drive system of claim 1, wherein, The system communication unit comprises CAN bus communication and serial port communication. The main control system comprises a plurality of single-chip microcomputer minimum systems.

3. The adaptive multi-wheel chassis universal drive system of claim 1, wherein, The sensing system comprises an attitude sensor, an encoder and a digital-to-analog converter.

4. The adaptive multi-wheel chassis universal drive system of claim 1, wherein, The attitude sensor measures acceleration and angular velocity. The encoder measures the rotating speed of a motor. The digital-to-analog converter measures the battery voltage. ​ ​

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