A control circuit and a water tank cleaning robot

Abstract

The utility model relates to water tank cleaning robot technical field, the utility model discloses a control circuit and water tank cleaning robot, control circuit includes power conversion module, main control module, input module, logic module, communication module and wiring port module, power conversion module connects main control module, input module, logic module and communication module, input module is connected with main control module, main control module is connected with logic module, logic module is connected with communication module, communication module is connected with wiring port module, the utility model can improve the stability of system, response speed and communication reliability.

Description

Technical Field

[0001] This utility model relates to the field of water tank cleaning robot technology, and in particular to a control circuit and a water tank cleaning robot. Background Technology

[0002] In the field of automation equipment, especially in applications such as water tank cleaning robots, the performance of the control circuit directly affects the reliability and operational efficiency of the equipment. Existing control circuit power modules cannot efficiently provide precise power to different modules, leading to energy waste and equipment overheating. Furthermore, functional modules such as the main control, input, logic, and communication modules are typically designed independently, lacking integration, which affects the overall system performance.

[0003] Therefore, there is an urgent need to propose a control circuit and a water tank cleaning robot to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to propose a control circuit and a water tank cleaning robot that can improve the system's stability, response speed, and communication reliability.

[0005] To solve the above-mentioned technical problems, this utility model provides a control circuit, including a power conversion module, a main control module, an input module, a logic module, a communication module, and a wiring port module;

[0006] The power conversion module is connected to the main control module, the input module, the logic module, and the communication module; the input module is connected to the main control module; the main control module is connected to the logic module; the logic module is connected to the communication module; and the communication module is connected to the wiring port module.

[0007] Furthermore, the power conversion module includes a 24V to 12V circuit, a 24V to 5V circuit, and a 5V to 3.3V circuit.

[0008] Furthermore, the main control module includes chip U1, crystal oscillator X2, capacitors C2, C3, C4, C6, C7, C8, C9, resistor R23, and switch SW2;

[0009] The VDD_1, VDD_2, VDD_3, and VDDA pins of chip U1 are all connected to the 3.3V output of the power conversion module; the VSS_1, VSS_2, VSS_3, and VSSA pins of chip U1 are all grounded; the crystal oscillator X2 is connected to the PD0-OSC_IN and PD1-OSC_OUT pins of chip U1; capacitors C2 and C3 are respectively connected between the two ends of the crystal oscillator X2 and ground; capacitors C4, C6, C7, and C9 are respectively connected between the power supply pins of chip U1 and ground; one end of capacitor C8 is connected to the NRST pin of chip U1, and the other end is grounded; one end of resistor R23 is connected to the 3.3V power supply of the power conversion module, and the other end is connected to the NRST pin and one end of switch SW2; the other end of switch SW2 is grounded and used to control the startup mode of chip U1.

[0010] Furthermore, the main control module also includes an indicator light circuit.

[0011] Furthermore, the input module includes an ADC input circuit and a pin input circuit; the ADC input circuit is used to receive external control information and convert it into a digital signal; the pin input circuit is used to transmit the digital signal to the main control module.

[0012] Furthermore, the ADC input circuit includes multiple operational amplifier chips and multiple ADC input channels; the multiple operational amplifier chips are respectively connected to the multiple ADC input channels, and are used to convert the received external control information into digital signals and transmit them to the main control module.

[0013] Furthermore, the pin input circuit includes multiple optocoupler isolators.

[0014] Furthermore, the logic module includes chip U9 and capacitor C5;

[0015] The VDD pin of the chip U9 is connected to the 5V power supply of the power conversion module, and the VSS pin is grounded.

[0016] The X_CH_0_IN / OUT, X_CH_1_IN / OUT, X_CH_2_IN / OUT, and X_CH_3_IN / OUT pins of chip U9 are connected to chip U1;

[0017] The Y_CH_0_IN / OUT, Y_CH_1_IN / OUT, Y_CH_2_IN / OUT, and Y_CH_3_IN / OUT pins of the chip U9 are connected to the communication module.

[0018] One end of the capacitor C5 is connected to the VDD pin of the chip U9, and the other end is grounded.

[0019] Furthermore, the communication module includes chip U30, resistor R96, resistor R97, and resistor R98;

[0020] The VCC pin of the chip U30 is connected to the 3.3V power supply of the power conversion module, and the GND pin is grounded.

[0021] The RO pin of chip U30 is connected to the PA3 pin of chip U1;

[0022] The DI pin of the chip U30 is connected to the PA2 pin of the chip U1;

[0023] The RE# and DE pins of chip U30 are both connected to the PA1 pin of chip U1;

[0024] The A pin and B pin of the chip U30 are respectively connected to the wiring port module;

[0025] One end of resistors R96 and R97 is connected to pins PA1 and PA2 of chip U1, respectively, and the other end is connected to the 3.3V power supply of the power conversion module.

[0026] One end of the resistor R98 is connected to pin A of the chip U30, and the other end is connected to pin B of the chip U30.

[0027] In addition, this utility model also proposes a water tank cleaning robot, including a robot body, a cleaning system and a control system; the control system includes the control circuit as described above, used to collect operation instructions and convert them into control signals to control the operation of the robot body and the cleaning system.

[0028] Through the above technical solution, this utility model has the following beneficial effects:

[0029] Through integrated control circuitry, this circuit enhances the stability and response speed of automated equipment during operation, while also improving communication reliability, thereby significantly improving the overall performance and operational efficiency of the equipment. Furthermore, by optimizing the power conversion module, main control module, input module, logic module, and communication module, this circuit further improves the system's integration and flexibility, enabling it to better adapt to changing working environments and task requirements. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the control circuit in one embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the 24V to 12V circuit in the control circuit of one embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the 24V to 5V conversion circuit in the control circuit of one embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the 5V to 3.3V conversion circuit in the control circuit of one embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the main control module in the control circuit of one embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the indicator light circuit in the control circuit of one embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of the logic module in the control circuit of one embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the ADC input circuit in the control circuit of one embodiment of the present invention;

[0038] Figure 9 This is a schematic diagram of the pin input circuit in the control circuit of one embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of the communication module in the control circuit of one embodiment of the present invention;

[0040] Figure 11 This is a schematic diagram of the wiring port module in the control circuit of one embodiment of the present invention.

[0041] In the diagram, 811 is the power conversion module; 812 is the main control module; 813 is the input module; 814 is the logic module; 815 is the communication module; and 816 is the wiring port module. Detailed Implementation

[0042] Based on the teachings of this specification, those skilled in the art can form new technical solutions by combining different implementation methods without creating technical contradictions. Such variations should be considered to fall within the protection scope of this patent.

[0043] The control circuit and water tank cleaning robot of this utility model will now be described in more detail with reference to the accompanying drawings, which illustrate preferred embodiments of this utility model. It should be understood that those skilled in the art can modify the utility model described herein while still achieving its advantageous effects. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the utility model.

[0044] The present invention will be described in more detail below by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0045] like Figure 1 As shown, this utility model embodiment proposes a control circuit, including a power conversion module 811, a main control module 812, an input module 813, a logic module 814, a communication module 815, and a wiring port module 816.

[0046] Specifically, the power conversion module 811 is connected to the main control module 812, the input module 813, the logic module 814, and the communication module 815; the input module 813 is connected to the main control module 812; the main control module 812 is connected to the logic module 814; the logic module 814 is connected to the communication module 815; and the communication module 815 is connected to the wiring port module 816.

[0047] In this embodiment, the power conversion module 811 provides a stable power supply with multiple voltages; the input module 813 receives external control information and converts it into digital signals; the main control module 812 analyzes and processes the digital signals and outputs control information; the logic module 814 processes the control information; and the communication module 815 transmits the processed control information to external devices through the wiring port module 816. This embodiment integrates various functional modules, achieving unified power management, signal processing, logic control, and communication, thereby improving the system's reliability and intelligence level. In the field of water tank cleaning, it enables the stable operation and efficient work of the water tank cleaning robot.

[0048] In one embodiment, such as Figures 2-4 As shown, the power conversion module 811 includes a 24V to 12V circuit, a 24V to 5V circuit, and a 5V to 3.3V circuit. Through multi-stage voltage conversion, it provides a stable power supply for modules with different voltage requirements, ensuring the compatibility and reliability of the entire system.

[0049] In a specific example, such as Figure 5 As shown, the 24V to 12V circuit can use the TPS54202DDCR chip, the 24V to 5V circuit can use the TPS54331DR chip, and the 5V to 3.3V circuit can use the ME6211C33M5G-N chip.

[0050] In this embodiment, the main control module 812 includes a chip U1, a crystal oscillator X2, capacitors C2, C3, C4, C6, C7, C8, C9, a resistor R23, and a switch SW2.

[0051] Specifically, the VDD_1, VDD_2, VDD_3, and VDDA pins of chip U1 are all connected to the 3.3V output terminal of the power conversion module 811; the VSS_1, VSS_2, VSS_3, and VSSA pins of chip U1 are all grounded; the crystal oscillator X2 is connected to the PD0-OSC_IN and PD1-OSC_OUT pins of chip U1; capacitors C2 and C3 are respectively connected between the two ends of the crystal oscillator X2 and ground; capacitors C4, C6, C7, and C9 are respectively connected between the power supply pins of chip U1 and ground; one end of capacitor C8 is connected to the NRST pin of chip U1, and the other end is grounded; one end of resistor R23 is connected to the 3.3V power supply of the power conversion module 811, and the other end is connected to the NRST pin and one end of switch SW2; the other end of switch SW2 is grounded and used to control the startup mode of chip U1.

[0052] The configuration of the main control module 812 enables the core control unit of the system to operate stably. It provides a precise clock signal through the cooperation of crystal oscillator and capacitor, while the setting of resistors and switches provides flexibility for system startup and reset.

[0053] In one specific example, the chip U1 uses an STM32 main control chip, such as the STM32F103C8T6 chip.

[0054] In addition, such as Figure 6 As shown, the main control module 812 also includes an indicator light circuit; the indicator light circuit includes LED3 and LED4; LED3 and LED4 are used to indicate the working status of the control circuit. The indicator light circuit allows users to intuitively understand the working status of the system, improving the user experience.

[0055] In one embodiment, such as Figure 7 As shown, the logic module 814 includes a chip U9 and a capacitor C5.

[0056] Specifically, the VDD pin of chip U9 is connected to the 5V power supply of power conversion module 811, and the VSS pin is grounded; the X_CH_0_IN / OUT, X_CH_1_IN / OUT, X_CH_2_IN / OUT, and X_CH_3_IN / OUT pins of chip U9 are connected to chip U1; the Y_CH_0_IN / OUT, Y_CH_1_IN / OUT, Y_CH_2_IN / OUT, and Y_CH_3_IN / OUT pins of chip U9 are connected to communication module 815; one end of capacitor C5 is connected to the VDD pin of chip U9, and the other end is grounded. The logic module 814, through the cooperation of logic chips and capacitors, achieves logical processing and stable transmission of signals, providing support for system decision-making and control.

[0057] In one specific example, the logic module 814 uses the CD4052BM96 chip.

[0058] In one embodiment, such as Figures 8-9 As shown, the input module 813 includes an ADC input circuit and a pin input circuit; the ADC input circuit is used to receive external control information and convert it into a digital signal; the pin input circuit is used to transmit the digital signal to the main control module 812. The input module 813 enables the system to flexibly receive and process external signals, enhancing the system's interactivity and adaptability.

[0059] In this embodiment, the ADC input circuit includes multiple operational amplifier chips and multiple ADC input channels, such as... Figure 8 As shown, multiple operational amplifier chips are connected to multiple ADC input channels to convert received external control information into digital signals and transmit them to the main control module 812. The cooperation between the operational amplifiers and the ADC input channels improves the accuracy and efficiency of signal conversion, thereby enhancing the system's response speed and accuracy to external control information.

[0060] In one specific example, the pin input circuit includes multiple optocouplers, specifically as follows: Figure 9 As shown, the use of optocoupler isolators enhances the anti-interference capability of the input circuit, protects the main control module 812 from external voltage fluctuations, and improves the stability and reliability of the system.

[0061] The system includes multiple ADC input channels, including AI0-AI7. AI0 is the ADC port for controlling the robot's forward and backward movement. AI1 is the ADC port for controlling the robot's left and right movement. AI2 is the ADC port for controlling the lifting and lowering movement of the turret. AI3 is the ADC port for controlling the trajectory of the robot's turret left and right and the two servo motors for the flushing nozzles. AI4 is the ADC port for controlling the robot's forward, backward, left, and right movement speeds. AI6 is the ADC port for controlling the left and right movement speeds of the turret. AI7 is the ADC port for controlling the left and right movement speeds of the flushing nozzles.

[0062] The pin input circuit also includes multiple control buttons, namely X00-X07. X00 is the button for adjusting the angle of the turret; X01 is the button for controlling the automatic movement of the turret; X02 is the origin setting button; X06 is the button for controlling the automatic movement of the turret; X07 is the button for adjusting the angle of the turret. When buttons X00 and X02 are pressed simultaneously, the turret's origin is adjusted; when buttons X07 and X02 are pressed simultaneously, the flushing nozzle's origin is adjusted.

[0063] In this embodiment, as Figure 10 As shown, the communication module 815 includes chip U30, protection diode D3, protection diode D4, protection diode D5, resistor R94, resistor R95, resistor R96, resistor R97, resistor R98, resistor R101, capacitor C29, and capacitor C30.

[0064] Specifically, the VCC pin of chip U30 is connected to the 3.3V power supply of the power conversion module 811, and the GND pin is grounded; the RO pin of chip U30 is connected to one end of resistor R94 and one end of resistor R101; the other end of resistor R94 is connected to the PA3 pin of chip U1 in the main control module 812; the other end of resistor R01 is connected to the 3.3V power supply of the power conversion module 811; the DI pin of chip U30 is connected to the PA2 pin of chip U1 in the main control module 812 and one end of resistor R95; the other end of resistor R95 is connected to the 3.3V power supply of the power conversion module 811; the RE# pin of chip U30... The DE pins are both connected to the PA1 pin of chip U1 in the main control module 812; the A and B pins of chip U30 are both connected to the logic module 814; pin A is also connected to one end of resistor R97 and resistor R98; the other end of resistor R97 is connected to the 3.3V power supply of power conversion module 811; pin B is connected to the other end of resistor R98 and one end of resistor R96; the other end of resistor R96 is grounded; one end of protection diode D3 and protection diode D5 is connected to both ends of protection diode D4, and the other ends are both grounded; one end of protection diode D3 and protection diode D5 is connected to pin A and pin B, respectively. The communication module 815, through the cooperation of the chip and related resistors, achieves reliable data transmission, enhancing the system's communication capability and stability.

[0065] In one specific example, the communication chip includes the SP3485EN-L / TR chip.

[0066] In this embodiment, as Figure 11 As shown, the wiring port module 816 includes multiple wiring terminals; some of the wiring terminals are connected to the communication module 815, and the other part of the wiring terminals are connected to the input module 813. The wiring port module 816 makes the system connection more flexible and convenient, allowing users to expand and maintain it as needed.

[0067] Furthermore, this embodiment also proposes a water tank cleaning robot, including a robot body, a cleaning system, and a control system. The control system includes the control circuit described above, used to collect operation commands and convert them into control signals to control the operation of the robot body and the cleaning system. By employing the control circuit, the water tank cleaning robot in this embodiment can achieve precise control of the robot's motion trajectory, support intelligent switching between multiple cleaning modes, and monitor the robot's working status in real time, enabling efficient and safe cleaning operations. The control circuit collects information from various sensors, calculates the optimal cleaning path according to a preset algorithm, and controls the robot to complete various cleaning tasks through the execution module.

[0068] In this embodiment, the power conversion module 811 mainly provides a stable power supply to the communication module 815 and the main control module 812. When external control information is converted into digital signals through the ADC input circuit, the digital signals are input to the main control module 812 through the pin input circuit. The main control module 812 analyzes and processes the control information and then sends it to the logic module 814. After processing the control logic, the logic module 814 transmits the processed control information to external devices, such as various motor drive boards, through the communication module 815.

[0069] In summary, the control circuit and water tank cleaning robot proposed in this utility model have the following advantages:

[0070] Through integrated control circuitry, this circuit enhances the stability and response speed of automated equipment during operation, while also improving communication reliability, thereby significantly improving the overall performance and operational efficiency of the equipment. Furthermore, by optimizing the power conversion module, main control module, input module, logic module, and communication module, this circuit further improves the system's integration and flexibility, enabling it to better adapt to changing working environments and task requirements.

[0071] 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, characterized by It includes a power conversion module, a main control module, an input module, a logic module, a communication module, and a wiring port module; The power conversion module is connected to the main control module, the input module, the logic module, and the communication module; the input module is connected to the main control module; the main control module is connected to the logic module; the logic module is connected to the communication module; and the communication module is connected to the wiring port module.

2. The control circuit of claim 1, wherein, The power conversion module includes a 24V to 12V circuit, a 24V to 5V circuit, and a 5V to 3.3V circuit.

3. The control circuit of claim 1, wherein, The main control module includes chip U1, crystal oscillator X2, capacitors C2, C3, C4, C6, C7, C8, C9, resistor R23, and switch SW2. The VDD_1, VDD_2, VDD_3, and VDDA pins of chip U1 are all connected to the 3.3V output of the power conversion module; the VSS_1, VSS_2, VSS_3, and VSSA pins of chip U1 are all grounded; the crystal oscillator X2 is connected to the PD0-OSC_IN and PD1-OSC_OUT pins of chip U1; capacitors C2 and C3 are respectively connected between the two ends of the crystal oscillator X2 and ground; capacitors C4, C6, C7, and C9 are respectively connected between the power supply pins of chip U1 and ground; one end of capacitor C8 is connected to the NRST pin of chip U1, and the other end is grounded; one end of resistor R23 is connected to the 3.3V power supply of the power conversion module, and the other end is connected to the NRST pin and one end of switch SW2; the other end of switch SW2 is grounded and used to control the startup mode of chip U1.

4. The control circuit of claim 1, wherein, The main control module also includes an indicator light circuit.

5. The control circuit of claim 1, wherein, The input module includes an ADC input circuit and a pin input circuit; the ADC input circuit is used to receive external control information and convert it into a digital signal; the pin input circuit is used to transmit the digital signal to the main control module.

6. The control circuit of claim 5, wherein, The ADC input circuit includes multiple operational amplifier chips and multiple ADC input channels; the multiple operational amplifier chips are respectively connected to the multiple ADC input channels, and are used to convert the received external control information into digital signals and transmit them to the main control module.

7. The control circuit of claim 5, wherein, The pin input circuit includes multiple optocouplers.

8. The control circuit of claim 1, wherein, The logic module includes chip U9 and capacitor C5; The VDD pin of the chip U9 is connected to the 5V power supply of the power conversion module, and the VSS pin is grounded. The X_CH_0_IN / OUT, X_CH_1_IN / OUT, X_CH_2_IN / OUT, and X_CH_3_IN / OUT pins of chip U9 are connected to chip U1; The Y_CH_0_IN / OUT, Y_CH_1_IN / OUT, Y_CH_2_IN / OUT, and Y_CH_3_IN / OUT pins of the chip U9 are connected to the communication module. One end of the capacitor C5 is connected to the VDD pin of the chip U9, and the other end is grounded.

9. The control circuit of claim 1, wherein, The communication module includes chip U30, resistor R96, resistor R97, and resistor R98; The VCC pin of the chip U30 is connected to the 3.3V power supply of the power conversion module, and the GND pin is grounded. The RO pin of chip U30 is connected to the PA3 pin of chip U1; The DI pin of the chip U30 is connected to the PA2 pin of the chip U1; The RE# and DE pins of chip U30 are both connected to the PA1 pin of chip U1; The A pin and B pin of the chip U30 are respectively connected to the wiring port module; One end of resistors R96 and R97 is connected to pins PA1 and PA2 of chip U1, respectively, and the other end is connected to the 3.3V power supply of the power conversion module. One end of the resistor R98 is connected to pin A of the chip U30, and the other end is connected to pin B of the chip U30.

10. A water tank cleaning robot characterized by comprising: It includes a robot body, a cleaning system, and a control system; the control system includes a control circuit as described in any one of claims 1-9, used to acquire operation commands and convert them into control signals to control the operation of the robot body and the cleaning system.

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