A control circuit for driving a mobile robot and the robot

Abstract

This utility model discloses a control circuit for driving a mobile robot, including a charger module, a power supply module, a communication module, a control module, an IMU module, and an interface module. The power supply module includes a power switching module, a power filtering and voltage regulation module, a power management module, a power monitoring module, and a key switch for a host computer. The power management module includes a power control module and a power distribution module. The power control module receives voltage requirements from different circuit components and transmits them to the power distribution module. The power distribution module converts the input voltage into a specific output voltage to meet the needs of different circuit components. Through high-speed data transmission, coordinated and precise control, and real-time status feedback between the power supply module, control module, and communication module, the dynamic stability of the mobile robot's drive control, the response speed of the mobile robot, and its endurance are improved.

Description

Technical Field

[0001] This utility model relates to robot control circuits, and more particularly to a control circuit for driving a mobile robot and the robot itself. Background Technology

[0002] With the integrated development of new technologies such as 5G and AI, mobile robots, including service robots, logistics AGVs, and inspection robots, are facing higher demands for dynamic performance, precise control, and endurance. Mobile robot control circuits primarily achieve high-precision attitude control and dynamic performance improvement through multi-sensor fusion, high-performance computing, and intelligent algorithm collaboration. They employ high-precision IMUs in conjunction with encoders and vision sensors, using MCUs or DSPs for real-time data processing to meet the high-performance requirements of complex scenarios. Currently, the mobile robot industry is moving towards higher intelligence and higher energy efficiency, but existing technologies still face many challenges: inefficient power management systems lead to insufficient endurance; high communication latency affects real-time control performance; and insufficient coordination between attitude perception and motion control limits the robot's dynamic stability. Utility Model Content

[0003] This application provides a control circuit and robot for driving a mobile robot, which solves the technical problems of low energy efficiency and low integration in the control process of mobile robots in the prior art. It realizes high-speed data transmission, coordinated and precise control and real-time status feedback between the power module, control module and communication module, improves the dynamic stability of the mobile robot drive control, and improves the response speed and endurance of the mobile robot.

[0004] This application provides a control circuit for driving a mobile robot, including: a charger module, a power supply module, a communication module, a control module, an IMU module, and an interface module;

[0005] The power module includes a power switching module, a power filtering and voltage regulation module, a power management module, a power monitoring module, and a key switch for the host computer.

[0006] The power switching module includes an optocoupler, a Schottky diode, and a current-limiting resistor; the optocoupler is connected to the main power supply and the backup power supply respectively; when there is voltage in the circuit, current flows through the current-limiting resistor and the Schottky diode to supply power to the backup power supply; when there is no voltage in the circuit, the backup power supply supplies power to the circuit through the optocoupler and the Schottky diode.

[0007] The power management module includes a power control module and a power distribution module; the power control module receives the voltage requirements of different circuit parts and transmits them to the power distribution module; the power distribution module converts the input voltage into a specific output voltage to meet the requirements of different circuit parts.

[0008] Preferably, the charging module includes a voltage detection module, a power input module, and a charging control module: the voltage detection module is provided with a current-limiting resistor, and the voltage signal is formed by the current-limiting effect of the current-limiting resistor to form a voltage detection signal CHARGE_V_CHECK;

[0009] The power input module is equipped with a filtering module, and the voltage signal is output as a voltage signal CHARGE_P_IN after passing through the filtering module.

[0010] The charging control module is connected to the MCU. The charging control module includes a transistor, which is connected to a MOSFET. If the voltage detection signal CHARGE_V_CHECK is normal, the MCU sends a charging control signal CHARGE_CTRL. The charging control signal CHARGE_CTRL controls the transistor to turn on, and then the MOSFET turns on.

[0011] Preferably, the power distribution module includes multiple step-down converters, each of which converts the input voltage into a different output voltage.

[0012] Preferably, the communication module includes: a UART communication module, an SPI communication module, a USART communication module, an RS-422 communication module, a CAN communication module, a multi-protocol synchronous / asynchronous transceiver, and a filter capacitor.

[0013] Preferably, the signal input and output process of the RS-422 communication module is as follows:

[0014] Input signal processing: The EMS control signal is connected to pin 3 of the U13 chip; the PON_SW_NO enable signal is directly connected to pin 11 of the U13 chip.

[0015] Output signal processing: 422_RX+ and 422_RX- are output from pins 15 and 17 of U13, respectively; 422_TX+ and 422_TX- are output from pins 16 and 18 of the U13 chip, respectively.

[0016] Preferably, the CAN communication module collects voltage, current, temperature, and SOC indicators and transmits them to the control module.

[0017] Preferably, the control module includes a main controller module, a clock circuit module, a crystal oscillator circuit module, a reset module, and a switch control module.

[0018] Preferably, the crystal oscillator circuit module consists of a high-frequency crystal oscillator and a low-frequency crystal oscillator. The high-frequency crystal oscillator is Y1, which is used for the core of the system; the low-frequency crystal oscillator is X1, which is used for auxiliary functions.

[0019] Preferably, the IMU module acquires triaxial acceleration and angular velocity, and processes them to obtain pitch angle, roll angle and yaw angle.

[0020] This application also proposes a driving mobile robot, characterized by including the above-described driving mobile robot control circuit.

[0021] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0022] The power module in this application employs power management and power switching modules with multi-stage voltage reduction. While supporting a wide voltage input range, it also enables multiple voltage outputs, improving energy conversion efficiency and significantly extending the robot's runtime. Simultaneously, the power switching module utilizes optocoupler isolation, and dual-power automatic switching technology allows seamless switching between primary and backup power supplies, ensuring continuous and stable operation of the system under complex working conditions. Through the coordinated setup of the communication module, control module, and IMU module, this application significantly enhances the robot's control stability during high-speed movement or load changes. Furthermore, it incorporates ferrite bead isolation technology to eliminate crosstalk between power ground and signal ground in the charging circuit, further improving the system's anti-interference capability and enabling flexible robot movement. This application is suitable for various application scenarios, including but not limited to logistics distribution, warehouse management, environmental monitoring, and home services. Its efficient mobile control circuitry and flexible drive system allow it to adapt to different working environments and task requirements, demonstrating broad application prospects. Attached Figure Description

[0023] Figure 1 This is a circuit diagram of the drive movement control in an embodiment of this application;

[0024] Figure 2 This is a schematic diagram of the power module in an embodiment of this application;

[0025] Figure 3 This is a circuit diagram of the power management module in an embodiment of this application;

[0026] Figure 4 This is a circuit diagram of the optocoupler in the embodiments of this application;

[0027] Figure 5 This is a circuit diagram of the charger module in an embodiment of this application;

[0028] Figure 6 This is a circuit diagram of the RS-422 communication module in an embodiment of this application. Detailed Implementation

[0029] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0030] Example 1

[0031] like Figure 1 The diagram shows the overall circuit structure of this embodiment; the hardware components include a charger module, a power supply module, a communication module, a control module, an IMU module, and an interface module.

[0032] The power management module provides stable voltage to different parts of the system, ensuring reliable operation of the entire system. The charger module is responsible for charging the battery, keeping it in optimal condition to meet the system's long-term operating requirements. The communication module transmits status information, such as speed, torque, current, and voltage, and feeds it back to the control module in real time via the CAN bus, enabling real-time monitoring of system operation and ensuring accurate tracking of key indicators such as battery voltage, current, temperature, and SOC. The control module feeds back the motor's operating status and power demand information to the power module, allowing the latter to more effectively manage the battery charging and discharging process, further optimizing battery performance and lifespan. The IMU module provides motion information such as system attitude, acceleration, and angular velocity; it is crucial for the system's navigation, positioning, and attitude control functions and is a key component for achieving high-precision motion control. The interface module communicates with external debugging equipment, supporting data transmission and power supply.

[0033] 1. Power Module

[0034] like Figure 2 As shown, the power module includes a power switching module, a power filtering and voltage regulation module, a power management module, a power monitoring module, a key switch for the host computer, and an optocoupler.

[0035] Power switching module: Enables switching between different power supplies to ensure stable circuit operation.

[0036] This application implements a smooth switching between the main power supply (e.g., VCC_3V3) and the backup power supply (e.g., VBAT). The main power input is 3.3V. When the voltage is present, current flows through the current-limiting resistor and the Schottky diode to power VBAT. A filter capacitor is used to smooth voltage fluctuations. When the voltage disappears, VBAT continues to power the circuit through an optocoupler and the Schottky diode. The optocoupler here ensures electrical isolation between VBAT and VCC_3V3, preventing reverse current flow.

[0037] Power filtering and voltage regulation module: performs filtering and voltage regulation on the power supply to ensure the power quality of the circuit board.

[0038] The power filtering and voltage regulation module in this application uses inductors to suppress high-frequency noise, diodes to prevent reverse current, multiple capacitors connected in parallel for filtering, and resistors for circuit debugging or jumpers. Through the combination of inductors, capacitors, and diodes, the power supply is filtered and regulated to ensure the power quality of the circuit board.

[0039] Power management module: Includes power control module and power distribution module, used to manage and control power distribution and use, optimize power efficiency, convert different input voltages into stable voltages required by other parts of the circuit board, and ensure that all parts of the system operate stably under appropriate voltage and current.

[0040] The power distribution module includes multiple buck converters, each responsible for converting the input voltage to a specific output voltage to meet the needs of different circuit sections:

[0041] AP6456BP-13(U9) step-down converter, input voltage: VCC_29V5, output voltage: VCC_12V;

[0042] JW5075SOT89TRPBF(U11) Buck Converter: Input Voltage: VCC_12V, Output Voltage: VCC_3V3;

[0043] JW5075SOT89TRPBF(U10) Buck Converter: Input voltage: VCC_12V, Output voltage: VCC_5V.

[0044] like Figure 3 As shown, these converters, through switching regulation and filtering by inductors and related capacitors, convert a 29.5V input voltage to a 12V output voltage, a 12V input voltage to a 3.3V output voltage, and a 12V input voltage to a 5V output voltage, respectively. Additionally, LED indicators are used to display the power status and are connected to the 3.3V power supply via current-limiting resistors. Through these buck converters, the power management module can provide stable voltages to different parts of the system, ensuring the reliable operation of the entire system.

[0045] Power monitoring module: Monitors the battery status, including voltage, current, temperature, etc., for battery management and protection. It communicates with other hardware components via CAN bus to achieve real-time data transmission and sharing, providing strong support for system decision-making.

[0046] The host computer's key switch controls power supply on / off and device startup / shutdown by detecting the key switch's status. After the 3.3V power input, it first passes through a series of filter capacitors and current-limiting resistors for filtering and current limiting to ensure power supply stability and reliability.

[0047] Optocouplers: After filtering and current limiting, the power supply is electromagnetically isolated through optocouplers. The function of optocouplers is to isolate input and output signals to prevent signal interference. For example... Figure 4 As shown, the LED illuminates, making pins 3 and 4 of the optocoupler conductive. Shorting the key switch KEY_SW generates a P+ voltage point (P+ voltage is the voltage generated during the power input to the battery, approximately 24-26V). Closing the key switch creates a common voltage point, and the host computer controls the on / off state of other switches according to instructions. Shorting the other two switches creates another common voltage point. The same potential is applied to the NMOS high voltage for conduction. If the host computer and chassis power supply are not connected, the signal is pulled up to 3.3V; if normally connected, it is directly grounded, and the normal voltage is pulled low, indicating that the host computer and chassis power supply are normally connected.

[0048] 2. Charger module

[0049] The charger module includes a charger battery charging management module: this module controls the battery charging process, ensuring charging safety and efficiency. For example... Figure 5 As shown, the charger voltage signal is used to form the voltage detection signal CHARGE_V_CHECK through the current limiting effect of resistor R526. If the CHARGE_V_CHECK voltage signal is normal, transistor Q11 will conduct, and MOSFET Q10 will conduct. Figure 1 As shown. Simultaneously, the charger's detection circuit (level conversion) generates the signal CHARGE_DET, which enters the MCU, as shown. Figure 1 If the voltage is detected to be normal, the MCU will send the signal CHARGE_CTRL.

[0050] The voltage signal first enters the system from the charger, and is filtered and has high-frequency noise suppressed by the capacitive and resistive absorption of R18 and C19, and by ferrite beads FB10 and FB1; resulting in the voltage signal CHARGE_P_IN. CHARGE_P_IN is then compared with the battery voltage VBAT+ by the Schottky diode D2 (MBRB3060CT). If CHARGE_P_IN is greater than VBAT+, the upper diode conducts, and the voltage signal entering the DC-DC system is provided by CHARGE_P_IN. The DC-DC converter steps down CHARGE_P_IN through multiple stages before supplying power to the MCU. The MCU sends CHARGE_CTRL to turn on transistor Q23, which in turn turns on MOSFET Q22. This completes the current path from the charger to the battery. The voltage signal first enters the system from the charger, and is filtered and has high-frequency noise suppressed by the capacitive and resistive absorption of R18 and C19, and by ferrite beads FB10 and FB1; resulting in the voltage signal CHARGE_P_IN. CHARGE_P_IN is compared with the battery voltage VBAT+ via Schottky diode D2 (MBRB3060CT). If CHARGE_P_IN is greater than VBAT+, the upper diode conducts, and the voltage signal entering the DC-DC system is provided by CHARGE_P_IN. The DC-DC converter steps down CHARGE_P_IN through multiple stages before supplying power to the MCU. The MCU sends CHARGE_CTRL, which turns on transistor Q23, and subsequently, MOSFET Q22 turns on. At this point, the complete current path from the charger to the battery is complete.

[0051] 3. Communication module

[0052] The communication module includes: a UART communication module, an SPI communication module, a USART communication module, an RS-422 communication module, a CAN communication module, a multi-protocol synchronous / asynchronous transceiver, and a filter capacitor.

[0053] UART (Universal Asynchronous Receiver / Transmitter) communication module: This is the part used to implement serial asynchronous communication, supporting data transmission between devices.

[0054] This module uses UART interfaces (such as UART0_RX, UART0_TX, UART2_RX, UART2_TX, etc.) to transmit and receive data, ensuring reliable communication between devices. During data transmission, data is sent from the microcontroller's UART_TX pin to the UART transceiver chip's DI pin. The UART transceiver chip converts the parallel data into serial data and sends it out through the TXD pin. During data reception, data is received from the RXD pin to the UART transceiver chip's RO pin. The UART transceiver chip converts the serial data into parallel data and sends it to the microcontroller's UART_RX pin through the DO pin. Along the data transmission path, filtering capacitors and impedance matching resistors are used to reduce data transmission errors and improve communication quality, providing stable and reliable communication.

[0055] SPI (Serial Peripheral Interface) communication module: This module is used to implement high-speed serial communication between master and slave devices, enabling high-speed data transmission and ensuring reliable communication between devices.

[0056] Master-Slave Communication: The master device provides a clock signal via the CLK pin of the SPI interface, controlling the data transmission rate. The master device sends data to the slave device via the MOSI pin, and the slave device sends data to the master device via the MISO pin. The master device selects a specific slave device for communication via the CS pin. Data Transmission: Data transmission occurs via the MOSI and MISO pins, with the CLK pin providing a synchronization clock signal. Full-duplex mode is supported, allowing simultaneous sending and receiving. The data transmission path includes filtering capacitors to ensure proper SPI device operation and impedance matching resistors to ensure signal integrity and reliability. This design provides stable and reliable communication, reduces data transmission errors, and improves communication quality.

[0057] The USART (Universal Synchronous / Asynchronous Receiver / Transmitter) communication module is the part of the circuit design used to implement serial data communication. It supports multiple communication protocols and is suitable for various communication scenarios. This module enables data transmission between devices through a serial interface, ensuring system flexibility and scalability. Data is transmitted via the RX (receive line) and TX (transmit line). The master device sends data through the TX pin, controlling the data transmission rate. Data transmission can be full-duplex, meaning simultaneous sending and receiving operations. UART communication has significant advantages in BMS applications: its hardware implementation is simple, requiring only two data lines to complete data transmission, and it does not require a shared clock signal. This method is low-cost, highly compatible, and can seamlessly interface with various devices. In a BMS, UART communication ensures that the host computer accurately collects information such as battery voltage, current, and temperature. Its asynchronous nature makes data transmission more flexible and suitable for various operating scenarios. Simultaneously, UART communication has strong real-time performance, meeting the battery management system's requirements for real-time data acquisition and monitoring.

[0058] Pull-up resistors are used to pull the RST pin up to VCC_3V3, ensuring the module is in a known state upon reset and preventing malfunctions. Along the data transmission path, filtering capacitors ensure proper USART device operation, and impedance matching resistors ensure signal integrity and reliability. This design provides stable and reliable communication, reduces data transmission errors, and improves communication quality. VCC_3V3 provides power to the circuit, filtered by capacitors to provide a stable voltage to U21.

[0059] Multiprotocol Synchronous / Asynchronous Transceiver (U21): Used to implement USART communication functionality. Signal Flow: Reset Signal (RST): Connected to the NRST pin of U21 via a resistor, used to reset the transceiver. USART Signal Input / Output: The USART1_RX signal is connected to the RX pin of U21 via a resistor, used to receive data. The USART1_TX signal is output from the TX pin of U21, used to transmit data.

[0060] Along the data transmission path, filtering capacitors ensure proper operation of the USART device, and impedance matching resistors ensure signal integrity and reliability. This design provides stable and reliable communication, reduces data transmission errors, and improves communication quality. Test points are used to monitor the voltage at critical nodes of the circuit during debugging and testing to ensure proper circuit operation. Through this design, the USART communication module can achieve synchronous and asynchronous communication based on the USART standard.

[0061] RS-422 Communication Module: A communication module that adopts the RS-422 standard and supports long-distance, high-speed data transmission.

[0062] like Figure 6 The diagram shows an RS-422 communication circuit, mainly composed of an RS-422 transceiver and corresponding signal conditioning circuitry. RS-422 is a differential signal transmission standard with excellent anti-interference capabilities and support for long-distance transmission, meeting the needs of long-distance, high-speed, and high-stability communication.

[0063] Power Input: VCC_29V5_SYS_A supplies power to the circuit through fuse F3 (S6125-F-20.0A). After capacitor filtering, it provides a stable voltage to U13 (PHB2.0-02-20PWZ). Signal Input: The EMS signal is input to pin 3 (IN) of U13 after being divided by resistors; the PON_SW_NO signal is directly connected to pin 11 (PON_SW) of U13. Signal Output: 422_RX+ and 422_RX- are output from pins 15 and 17 of U13 respectively, with diode D14 (S23T24C) used to protect the RX signal line. 422_TX+ and 422_TX- are output from pins 16 and 18 of U13 respectively, with diode D15 (S23T24C) used to protect the TX signal line. Through this design, the 422 communication module realizes long-distance, high-speed data transmission based on the RS-422 standard.

[0064] CAN Communication Module: In motor control, the high-speed communication characteristics of the CAN bus enable real-time dynamic control of the motor. With its excellent real-time performance, anti-interference capabilities, and multi-node communication support, CAN communication ensures stable transmission of motor control signals in complex electromagnetic environments, thereby achieving precise motor control.

[0065] The motor controller sends control commands to the motor via the CAN bus according to the system's set operating mode and task requirements. These commands include motor start, stop, acceleration, deceleration, and steering control. Through the CAN bus, the motor controller can transmit control commands to the motor with a millisecond-level response speed. Upon receiving the commands, the motor drive module quickly adjusts the motor's current and voltage, thereby achieving rapid motor response and precise rotation. Simultaneously, the motor's operating status information, such as speed, torque, current, and voltage, is also fed back to the motor controller in real time via the CAN bus, forming a closed-loop control system. Based on the feedback information, the motor controller further optimizes the control strategy to ensure the motor is always in optimal operating condition, improving system efficiency and reliability. Furthermore, CAN bus technology is used to achieve real-time monitoring of the battery management system (BMS), ensuring accurate tracking of key indicators such as battery voltage, current, temperature, and SOC (State of Charge). This data is transmitted to the motor controller in the form of data frames. After receiving the battery status data, the motor controller performs in-depth analysis and decision-making based on the actual operating requirements of the motor. For example, when the battery is low on power, the motor controller adjusts the motor's operating mode based on the remaining battery charge and the motor's power requirements, reducing power output to extend the battery's lifespan. If the battery temperature is too high, the motor controller will take measures such as reducing the motor speed or temporarily stopping the motor to prevent damage caused by overheating. Furthermore, the motor controller feeds back the motor's operating status and power requirements to the battery management system, enabling the latter to more effectively manage the battery's charging and discharging process and further optimize battery performance and lifespan.

[0066] 4. Control Module

[0067] The control module includes a main controller module, a clock circuit module, a crystal oscillator circuit module, a reset module, and a switch control module.

[0068] Main Controller Module: This application uses the high-performance GD32F303ZET6 microcontroller (MCU) as the core main control chip. Its powerful processing capabilities, rich peripheral interfaces, and excellent low-power characteristics lay a solid foundation for the efficient and stable operation of the entire circuit board. As the core controller of the entire system, the MCU flexibly controls multiple modules through I / O ports. This control method is not only simple and direct, easy to implement and debug, but also allows for independent control of each module according to different needs, realizing complex control logic. Simultaneously, it offers fast response speed, reducing system complexity and cost. Regarding the control of the power module, this application uses voltage checking and Hall current sensors to collect voltage and current information and outputs the signals to the MCU. The MCU uses ADC conversion and I / O port control to precisely manage the input voltage. This control method can monitor the status of the power module in real time and accurately, improve the stability and reliability of the power supply through intelligent management, and take timely protective measures in abnormal situations to ensure the safe operation of the system.

[0069] Clock circuit module: Provides a stable clock signal to the circuit board, ensuring the synchronous operation of all modules.

[0070] Crystal Oscillator Circuit Module: The crystal oscillator circuit module is the part of the circuit design used to provide a stable clock signal, ensuring the synchronous operation of the circuit. This module generates a precise frequency signal through the cooperation of the crystal oscillator and related capacitors. The crystal oscillator generates a stable frequency signal through its internal quartz crystal. The two ends of the crystal oscillator are connected to the power supply and ground respectively, and the stability of the oscillation is ensured by matching the load capacitance. The load capacitance refers to the total effective external capacitance across the two ends of the crystal in the circuit. The size of this capacitance mainly affects the load resonant frequency and the equivalent load resonant resistance. Generally, increasing the load capacitance will decrease the oscillation frequency, while decreasing the load capacitance will increase the oscillation frequency. In this application, the crystal oscillator circuit module consists of a high-frequency crystal oscillator and a low-frequency crystal oscillator. The high-frequency crystal oscillator is Y1 (Q13FC135000d400) with a frequency of 32.768kHz. It needs to provide a fast clock signal to support the high-speed operation of the processor and directly affects the core performance of the system. The low-frequency crystal oscillator is X1 (E3SB16E000025E5pF), which is usually used for auxiliary functions such as RTC. They have little impact on the overall performance of the system.

[0071] Reset Module: The reset module is the part of the circuit design used to provide a reset signal when the system malfunctions, ensuring that the system can return to its initial state. This module ensures the stability and reliability of the system by detecting the system status and triggering a reset signal when necessary. In the reset module of this application, when there is no reset signal, the pull-up resistor pulls the MCU_NRST pin high to VCC_3V3 to keep the microcontroller working normally. When the system needs to be reset, the MCU_NRST pin is pulled low, the microcontroller resets, releases all peripherals and registers, and reinitializes the system. The MCU_NRST pin can be pulled low via an external button or other reset circuit to trigger the reset signal. When the reset is triggered, the debounce capacitor provides a short delay to ensure the stability and reliability of the reset signal.

[0072] Switch control module: controls the switching actions on the circuit board, such as power switches and function toggle switches.

[0073] 5. IMU module

[0074] The IMU module is used to measure the chassis's three-axis acceleration and angular velocity in real time, and processes this information through algorithms to obtain the chassis's pitch, roll, and yaw angles. This attitude information is crucial for ensuring the chassis's stability and handling. For example, in the field of autonomous vehicles, the high-precision attitude data provided by the IMU is essential for the vehicle's lateral and longitudinal stability control. The IMU in this application uses serial communication. Due to its short transmission distance and advantages such as ease of use, low cost, and good compatibility, serial communication can ensure the accurate acquisition and transmission of IMU data, providing reliable data support for the robot's attitude control and navigation.

[0075] This application selects the SPGM61 as the IMU for the chassis control board. Signals are transmitted to the main control chip via serial communication, and after processing using the GD32F303ZET6 chip, the data is transmitted to the host computer for control. The advantage of the SPGM61 lies in its high-performance six-axis inertial measurement unit (IMU), capable of providing stable angular velocity, acceleration, and attitude angle values ​​with extremely high accuracy and reliability. For example, its gyroscope bias instability is as low as 8.5 degrees / hour along the Z-axis, and the accelerometer's initial bias error is only ±20mg. This high-precision measurement capability provides solid data support for the stable control of the chassis.

[0076] The SPGM61 module features low power consumption (only 20mA) and a compact size (24×22×8mm), making it ideal for chassis control systems with strict space and energy requirements. It provides efficient attitude sensing and motion control without adding extra overhead.

[0077] Advantages of serial communication: Serial communication is characterized by low cost, strong compatibility, and ease of implementation. Using serial communication to read IMU data on the chassis control board simplifies hardware design, reduces system costs, and ensures stable data transmission. Furthermore, the asynchronous nature of serial communication eliminates the need for clock signal synchronization, further enhancing system flexibility and reliability.

[0078] 6. Interface Module

[0079] The interface module includes an SWD debugging interface module and a USB interface module.

[0080] SWD Debug Interface Module: Used for hardware debugging, supports single-line debugging function, and facilitates development and testing.

[0081] This module communicates with external debugging devices via the SWD_DIO and SWD_CLK pins. VCC_3V3_CORE provides a 3.3V power supply to the module, ensuring the normal operation of the debugging interface. Current-limiting resistors are connected to the SWD_DIO and SWD_CLK pins respectively to prevent overcurrent damage to the debugging interface. Filter capacitors are used to smooth voltage fluctuations and ensure signal stability. During debugging, the SWD_DIO pin is used for data input and output, and the SWD_CLK pin is used for clock signal transmission. Through these pins, the debugging device can communicate with the target hardware to perform functions such as program downloading, data reading, and debugging. The design of this module simplifies and improves the efficiency of hardware debugging, contributing to increased development and testing efficiency.

[0082] USB Interface Module: The USB interface module is the part of the circuit design used to connect to external devices, supporting data transmission and power supply. This module enables communication and power management between devices via the USB interface, ensuring system expandability and convenience. USB-to-Serial Converter: The USB-to-serial chip converts USB signals to serial signals, enabling communication with external devices. The chip sends and receives data through the TXD and RXD pins. A crystal oscillator (X2) provides a stable clock signal, ensuring the normal operation of the USB-to-serial chip. In the data transmission path, filtering capacitors ensure normal chip operation, and resistors for current limiting and impedance matching ensure signal integrity and reliability. This design provides stable and reliable communication, reduces data transmission errors, and improves communication quality.

[0083] The interplay of these modules endows the circuit board with powerful comprehensive functions, enabling it to meet the complex task requirements of various application scenarios.

[0084] Example 2

[0085] This application also proposes a driven mobile robot, including the control circuit described in Embodiment 1. The driven mobile robot proposed in this application adopts a dual-wheel drive system. By independently controlling the speed and direction of the two wheels, the robot can flexibly adjust power distribution according to different task requirements, improving mobility. Dual-wheel drive enables the robot to turn in place and perform flexible path planning, making it particularly suitable for confined spaces and complex environments. The use of hub motors reduces the number of transmission components, lowering system complexity and maintenance costs. The dual-wheel drive robot is suitable for various application scenarios, including but not limited to logistics distribution, warehouse management, environmental monitoring, and home services. Its efficient mobile control circuit and flexible drive system enable it to adapt to different working environments and task requirements, demonstrating broad application prospects.

[0086] The robot uses a three-phase hub motor powered by a 24V DC power supply. This 24V power supply system meets the motor's high-efficiency operation requirements while ensuring system safety and stability. The three-phase electric drive of the motor ensures smooth and efficient power output, providing sufficient driving force for the robot to maintain good mobility under various terrains and load conditions.

[0087] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made to the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention. Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0088] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A control circuit for driving a mobile robot, characterized in that... include: Charger module, power supply module, communication module, control module, IMU module, interface module; The power module includes a power switching module, a power filtering and voltage regulation module, a power management module, a power monitoring module, and a key switch for the host computer. The power switching module includes an optocoupler, a Schottky diode, and a current-limiting resistor. The optocoupler is connected to the main power supply and the backup power supply respectively. When there is voltage in the circuit, current flows through the current-limiting resistor and the Schottky diode to supply power to the backup power supply. When there is no voltage in the circuit, the backup power supply supplies power to the circuit through the optocoupler and the Schottky diode. The power management module includes a power control module and a power distribution module; the power control module receives the voltage requirements of different circuit parts and transmits them to the power distribution module; the power distribution module converts the input voltage into a specific output voltage to meet the requirements of different circuit parts.

2. The control circuit for driving a mobile robot as described in claim 1, characterized in that, The charger module includes a voltage detection module, a power input module, and a charging control module. The voltage detection module is equipped with a current-limiting resistor. The voltage signal is limited by the current-limiting resistor to form the voltage detection signal CHARGE_V_CHECK. The power input module is equipped with a filtering module, and the voltage signal is output as a voltage signal CHARGE_P_IN after passing through the filtering module. The charging control module is connected to the MCU. The charging control module includes a transistor, which is connected to a MOSFET. If the voltage detection signal CHARGE_V_CHECK is normal, the MCU sends a charging control signal CHARGE_CTRL. The charging control signal CHARGE_CTRL controls the transistor to turn on, and then the MOSFET turns on.

3. The control circuit for driving a mobile robot as described in claim 1, characterized in that, The power distribution module includes multiple step-down converters, each of which converts the input voltage into a different output voltage.

4. The control circuit for driving a mobile robot as described in claim 1, characterized in that, The communication module includes: a UART communication module, an SPI communication module, a USART communication module, an RS-422 communication module, a CAN communication module, a multi-protocol synchronous / asynchronous transceiver, and a filter capacitor.

5. The control circuit for driving a mobile robot as described in claim 4, characterized in that, The signal input and output process of the RS-422 communication module is as follows: Input signal processing: The EMS control signal is connected to pin 3 of the U13 chip; the PON_SW_NO enable signal is directly connected to pin 11 of the U13 chip. Output signal processing: 422_RX+ and 422_RX- are output from pins 15 and 17 of U13, respectively; 422_TX+ and 422_TX- are output from pins 16 and 18 of the U13 chip, respectively.

6. The control circuit for driving a mobile robot as described in claim 4, characterized in that, The CAN communication module collects voltage, current, temperature, and SOC indicators and transmits them to the control module.

7. The control circuit for driving a mobile robot as described in claim 1, characterized in that, The control module includes a main controller module, a clock circuit module, a crystal oscillator circuit module, a reset module, and a switch control module.

8. The control circuit for driving a mobile robot as described in claim 7, characterized in that, The crystal oscillator circuit module consists of a high-frequency crystal oscillator and a low-frequency crystal oscillator; the high-frequency crystal oscillator is Y1, which is used as the core of the system; the low-frequency crystal oscillator is X1, which is used for auxiliary functions.

9. The control circuit for driving a mobile robot as described in claim 1, characterized in that, The IMU module collects triaxial acceleration and angular velocity, and processes them to obtain pitch angle, roll angle and yaw angle.

10. A method for driving a mobile robot, characterized in that, Includes the control circuit for driving a mobile robot as described in any one of claims 1-9.

Images