A control circuit for ambulatory assist robot power

Abstract

The application provides a control circuit for walking auxiliary robot power, relates to the field of control circuits, and discloses a control circuit for walking auxiliary robot power, which comprises an MCU for generating motor control signals, a MOS tube driving circuit for rapidly charging a power supply, an RS485 communication circuit for providing control information to a motor, a temperature detection circuit for detecting the motor, a button recognition circuit for controlling the motor, and a management circuit for monitoring the power supply; the utility model can rapidly charge the power supply battery, can manage the state of the power supply, and can control the motor through the RS485 communication circuit, so that the utility model can prevent external signal interference.

Description

Technical Field

[0001] This application relates to the field of control circuits, and more specifically, to a control circuit for powering a walking-assisted robot. Background Technology

[0002] Walking assistance robots, as an advanced assistive device, provide efficient, convenient, and environmentally friendly mobility solutions for people with mobility impairments. These devices, through a combination of mechanical support and power drive, effectively compensate for users' muscle weakness, joint instability, or loss of neural signals, thereby restoring basic mobility functions. Traditional mechanical walking aids, such as quadrupedal walkers and forearm crutches, only provide static support and balance assistance, relying entirely on the user's own strength for propulsion. This results in significant drawbacks such as unnatural gait, heavy upper limb burden, limited balance assistance, and low freedom of movement. The core control of modern walking assistance robots lies in the precise drive of the walking motor, requiring complex control circuits to achieve functions such as power on / off control and walking direction control. Existing control circuits have shortcomings in power management, temperature monitoring, and communication stability, particularly lacking systematic solutions in key areas such as fast power supply charging, real-time motor temperature monitoring, and accurate multi-button recognition, affecting device reliability and user experience. Furthermore, traditional control circuits also have significant shortcomings in power management accuracy, multi-channel signal processing efficiency, and system integration, making it difficult to meet the stringent requirements of modern walking assistance robots for control precision and response speed. Summary of the Invention

[0003] The purpose of this application is to provide a control circuit for the power of a walking assistance robot, which can solve the above-mentioned technical problems.

[0004] This application provides a control circuit for the power of a walking assist robot, including an MCU for generating motor control signals, a MOS transistor drive circuit for fast charging of the power supply, an RS485 communication circuit for providing control information to the motor, a temperature detection circuit for detecting the motor, a key recognition circuit for controlling the motor, and a management circuit for monitoring the power supply.

[0005] Preferably, the MCU is model N32G452CCL7.

[0006] Preferably, the management circuit includes a battery management chip U200 and a data acquisition circuit. The battery management chip U200 is model DVC1117-12. Pins 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, and 25 of the battery management chip U200 are electrically connected to the power supply through the data acquisition circuit. The output terminal of the battery management chip U200 is electrically connected to the MCU.

[0007] Preferably, the management circuit further includes a power supply circuit, the input terminal of which is electrically connected to the power supply, the output terminal of which is electrically connected to the MCU, and the voltage of the output terminal of the power supply circuit is +3.3V.

[0008] Preferably, the MOSFET driving circuit includes MOSFETs Q51, Q25, Q50, Q60, Q58, Q55, Q125, Q78, Q103, Q77, Q74, Q85, and Q102.

[0009] Preferably, the RS485 communication circuit includes an RS485 transceiver U21 and an optotransistor U13. The RS485 transceiver U21 is of model P8485E and the optotransistor U13 is of model LTV217.

[0010] Preferably, the temperature detection circuit is provided with at least two temperature detection sensors.

[0011] Preferably, the button recognition circuit includes multiple control buttons.

[0012] The beneficial effects of this utility model are:

[0013] This invention provides a control circuit for powering a walking assist robot, including an MCU for generating motor control signals, a MOS transistor drive circuit for rapidly charging the power supply, an RS485 communication circuit for providing control information to the motor, a temperature detection circuit for detecting the motor, a button recognition circuit for controlling the motor, and a management circuit for monitoring the power supply. This invention can quickly charge the power supply battery and manage the status of the power supply. Furthermore, this invention can control the motor through the RS485 communication circuit, preventing interference from external signals. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a circuit diagram of the MCU in some embodiments of this application;

[0016] Figure 2 This is a power supply circuit diagram in some embodiments of this application;

[0017] Figure 3 This is a diagram of the MOS transistor driving circuit in some embodiments of this application;

[0018] Figure 4 This is a circuit diagram of RS485 communication in some embodiments of this application;

[0019] Figure 5 This is a diagram of the temperature detection circuit and management circuit in some embodiments of this application;

[0020] Figure 6 This is a circuit diagram of a key recognition circuit in some embodiments of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0026] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0027] like Figure 1-6 As shown, a control circuit for powering a walking assist robot includes an MCU for generating motor control signals, a MOS transistor drive circuit for rapidly charging the power supply, an RS485 communication circuit for providing control information to the motor, a temperature detection circuit for detecting the motor, a button recognition circuit for controlling the motor, and a management circuit for monitoring the power supply. This invention can quickly charge the power supply battery and manage the status of the power supply. Furthermore, this invention can control the motor through the RS485 communication circuit, preventing interference from external signals.

[0028] The MCU receives real-time data from the temperature detection circuit. When the motor temperature exceeds the threshold, it automatically reduces the output power. The MOSFET drive circuit shares the current load by connecting multiple power devices in parallel, shortening the charging time. The RS485 communication circuit establishes a full-duplex communication link between the motor controller and the main control unit, synchronously transmitting speed commands and position feedback signals. The management circuit continuously monitors the individual battery cell voltages and extends the power supply lifespan through a dynamic balancing algorithm. All modules are connected via a bus to form a closed-loop control system, enabling precise adjustment of power output and rapid response to abnormal conditions.

[0029] like Figure 1 As shown, in this embodiment, the MCU is model N32G452CCL7; MCU refers to a microcontroller unit, specifically implemented using an ARM Cortex-M4 core architecture. This architecture features a single-cycle multiplier and a hardware divider, capable of executing digital signal processing instructions. Multi-channel PWM output is implemented through a timer module, for example, configuring TIM1 and TIM8 timers to generate six complementary PWM signals. The ADC module integrates a 12-bit precision analog-to-digital converter with a sampling rate of up to 1Msps, used to acquire the voltage signal output by the power management chip. The USART interface achieves data transmission and reception synchronization of the RS485 communication protocol through a hardware flow control pin. The hardware watchdog module is driven by an independent clock and can automatically reset the system if the program crashes.

[0030] like Figure 2 As shown, in this embodiment, the management circuit includes a battery management chip U200 and a data acquisition circuit. The battery management chip U200 is model DVC1117-12. Pins 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, and 25 of the battery management chip U200 are electrically connected to the power supply through the data acquisition circuit. The output terminal of the battery management chip U200 is electrically connected to the MCU.

[0031] The U200 battery management chip is an integrated circuit used to monitor the power supply status. It can be implemented using a dedicated chip with multi-channel data acquisition capabilities, using built-in voltage, current, and temperature monitoring modules to detect battery parameters in real time. The acquisition circuit refers to the signal transmission path connecting the power supply and the battery management chip. It can be implemented using a multi-parallel resistor divider network to convert power parameters into voltage signals recognizable by the chip. The DVC1117-12 model refers to a battery management chip with 16 independent acquisition channels. The sampling frequency and threshold range of different parameters can be set through configuration registers. Pins 9 to 25 are connected to the power supply because the chip's multiple input ports correspond to different monitoring nodes of the power supply. A voltage divider circuit can be used to distribute the total power supply voltage, individual battery voltage, and temperature signals to different pins. The output is electrically connected to the MCU because the chip's data output interface transmits data to the main controller via a serial communication protocol. Real-time data reporting can be achieved using I2C or SPI interfaces.

[0032] like Figure 2 As shown in this embodiment, the management circuit further includes a power supply circuit. The input terminal of the power supply circuit is electrically connected to the power supply, and the output terminal of the power supply circuit is electrically connected to the MCU. The output voltage of the power supply circuit is +3.3V. The power supply circuit is a circuit module that converts the voltage of the power supply to a voltage suitable for the MCU's operating voltage. Specifically, it can be implemented using a low-dropout linear regulator or a DC-DC converter to convert the high voltage of the input power supply into a stable low-voltage DC output. Electrical connection of the input terminal to the power supply means that the power supply circuit receives the raw power input from the battery or external adapter through wires or conductive paths. This can be achieved through soldering or plugging to ensure reliable power transmission. Electrical connection of the output terminal to the MCU means that the converted low-voltage power supply is directly connected to the MCU's power pins through wires or conductive paths. This can be achieved using PCB traces or a flexible circuit board to provide continuous power to the MCU. The output voltage of +3.3V means that the power supply circuit precisely controls the voltage within the 3.3V range through internal voltage regulators. This can be achieved using a feedback regulation circuit or a reference voltage source to match the power supply requirements of the low-power MCU.

[0033] like Figure 3 As shown, in this embodiment, the MOSFET driving circuit includes MOSFETs Q51, Q25, Q50, Q60, Q58, Q55, Q125, Q78, Q103, Q77, Q74, Q85, and Q102.

[0034] The main power switching network refers to the current path formed by multiple MOSFETs connected in parallel. Specifically, it can be implemented using MOSFETs Q51, Q25, and Q50. The parallel topology reduces on-resistance and improves high-current carrying capacity. The drive signal amplification unit is a signal enhancement module composed of transistors, specifically implemented using transistors such as Q125 and Q78, used to amplify control signals and suppress external interference. The complementary switching group is a switching module formed by combining MOSFETs and transistors, specifically implemented using MOSFETs Q103 and Q77 with transistors Q74 and Q85. Complementary drive logic enables delay-free switching between charging and discharging modes.

[0035] like Figure 4 As shown, in this embodiment, the RS485 communication circuit includes an RS485 transceiver U21 and an optotransistor U13. The RS485 transceiver U21 is a P8485E, and the optotransistor U13 is an LTV217. The RS485 transceiver is a communication interface device based on a differential signal transmission mechanism, specifically a P8485E device. This device has common-mode interference immunity, suppressing the impact of electromagnetic interference on signal integrity during motor control signal transmission. The optotransistor is a semiconductor device that achieves electrical isolation through optical coupling, specifically an LTV217 device. This device forms an isolation barrier between the RS485 transceiver and the main control unit, blocking ground loop interference and high-voltage surges from impacting the logic circuit.

[0036] The RS485 transceiver U21 transmits differential signals via twisted-pair cable, maintaining signal amplitude stability during long-distance communication between the motors and control units within the walking assistance robot. The P8485E transceiver's common-mode voltage rejection range covers voltage fluctuations that may occur in the robot's working environment, ensuring that the signal is not subject to electromagnetic interference when power and communication cables are laid in parallel.

[0037] like Figure 5 As shown in this embodiment, the temperature detection circuit includes at least two temperature sensors. A temperature sensor is an electronic component used to collect real-time motor operating temperature data; specifically, it can be a negative temperature coefficient thermistor or a digital temperature sensor, whose resistance or output signal changes linearly with temperature. The temperature sensors are positioned in different heat-generating areas of the motor, such as the winding ends and bearing areas, to cover regions with varying heat distribution during motor operation.

[0038] like Figure 6As shown in this embodiment, the button recognition circuit includes multiple control buttons; these multiple control buttons refer to independently configured physical operation units, which can be implemented using mechanical contact switches or capacitive touch sensors, with each button corresponding to a single function command input. The physical isolation layout of the multiple control buttons can avoid signal crosstalk and reduce the probability of accidental touches through spatial separation.

[0039] Multiple control buttons are configured to correspond to the functions of travel direction switching, power drive adjustment, and power on / off. When the user presses the travel direction switching button, the control circuit receives a pulse signal and triggers the motor steering logic; when the power drive adjustment button is pressed, a stepped voltage signal is generated through a resistor voltage divider circuit to achieve linear adjustment of the motor output torque; when the power on / off button is pressed, a level trigger signal controls the on / off state of the power management module. The circuit paths of each button are connected to the MCU's GPIO ports through independent wiring to ensure independent signal transmission.

[0040] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control circuit for powering a walking-assisted robot, characterized in that: It includes an MCU for generating motor control signals, a MOS transistor drive circuit for fast charging of the power supply, an RS485 communication circuit for providing control information to the motor, a temperature detection circuit for detecting the motor, a key recognition circuit for controlling the motor, and a management circuit for monitoring the power supply.

2. The control circuit for powering a walking-assisted robot according to claim 1, characterized in that: The MCU model is N32G452CCL7.

3. The control circuit for powering a walking-assisted robot according to claim 1, characterized in that: The management circuit includes a battery management chip U200 and a data acquisition circuit. The battery management chip U200 is model DVC1117-12. Pins 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, and 25 of the battery management chip U200 are electrically connected to the power supply through the data acquisition circuit. The output terminal of the battery management chip U200 is electrically connected to the MCU.

4. The control circuit for powering a walking-assisted robot according to claim 1, characterized in that: The management circuit also includes a power supply circuit, the input terminal of which is electrically connected to the power supply, the output terminal of which is electrically connected to the MCU, and the voltage of the output terminal of which is +3.3V.

5. The control circuit for powering a walking-assisted robot according to claim 1, characterized in that: The MOSFET driving circuit includes MOSFETs Q51, Q25, Q50, Q60, Q58, Q55, Q125, Q78, Q103, Q77, Q74, Q85, and Q102.

6. The control circuit for powering a walking-assisted robot according to claim 1, characterized in that: The RS485 communication circuit includes an RS485 transceiver U21 and an optotransistor U13. The RS485 transceiver U21 is model P8485E, and the optotransistor U13 is model LTV217.

7. The control circuit for powering a walking-assisted robot according to claim 1, characterized in that: The temperature detection circuit is equipped with at least two temperature sensors.

8. A control circuit for powering a walking-assisted robot according to claim 1, characterized in that: The button recognition circuit includes multiple control buttons.

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