A control system for a soft floor cleaning robot

Abstract

The utility model discloses a kind of control systems of soft ground cleaning robot, including main control module, CAN bus drive unit, motor drive unit and power module;The CAN bus drive unit is connected by CAN transceiver chip CAN communication interface of the main control module;The motor drive unit is composed of opto-coupler isolation circuit and H bridge drive circuit;The opto-coupler isolation circuit includes opto-coupler chip, and the input end of opto-coupler chip is connected with the PWM signal end output by main control module;The H bridge drive circuit includes half bridge drive chip and two power MOSFET tubes;The output end of opto-coupler chip is connected with the input end of half bridge drive chip, and the output end of half bridge drive chip is connected with the gate of power MOSFET tube, and the source and drain of two power MOSFET tubes constitute H bridge upper and lower bridge arms, and the midpoint of bridge arm is connected direct current brush motor.The utility model can realize multi-motor precision control, and have the advantages of low complexity, high integration.

Description

Technical Field

[0001] This utility model relates to the field of cleaning robot technology, specifically to a control system for a soft floor cleaning robot. Background Technology

[0002] Existing soft floor cleaning robots, such as the Chinese invention patent with publication number CN114922128A developed by the same team as this patent application, disclose a soft floor cleaning vehicle, which has a vibration screening motor (DC brushless motor) and a walking motor (DC brushed motor), as shown in the attached... Figure 14 and attached Figure 15 As shown, the vibrating screening motor vibrates and screens the waste, while the walking motor is used for the robot's movement. However, current control systems have several problems. On the one hand, the coordinated control precision of multiple motors is insufficient, making it difficult to drive them accurately according to their characteristics. For example, efficient coordination cannot be achieved when controlling the brushless DC motor that drives the spiral chassis and the brushless DC motor that drives the vibrating screen, affecting cleaning efficiency. Simultaneously, the system has low integration and a scattered circuit board layout, which not only increases circuit complexity but also reduces system stability and reliability, and makes maintenance and debugging more difficult. Utility Model Content

[0003] The purpose of this invention is to provide a control system for a robot that cleans soft floors. This invention can achieve precise control of multiple motors and has the advantages of low complexity and high integration.

[0004] The technical solution provided by this utility model is as follows: A control system for a soft floor cleaning robot, comprising:

[0005] The main control module uses a microcontroller with integrated WiFi and Bluetooth communication functions to generate motor control signals and communication commands;

[0006] The CAN bus driver unit is connected to the CAN communication interface of the main control module by a CAN transceiver chip, and is used to interact with the electronic speed controller of the brushless DC motor to exchange control signals and motor feedback information.

[0007] The motor drive unit consists of an optocoupler isolation circuit and an H-bridge drive circuit. The optocoupler isolation circuit includes an optocoupler chip, the input of which is connected to the PWM signal output by the main control module. The H-bridge drive circuit includes a half-bridge drive chip and two power MOSFETs. The output of the optocoupler chip is connected to the input of the half-bridge drive chip, and the output of the half-bridge drive chip is connected to the gate of the power MOSFET. The source of one power MOSFET and the drain of the other MOSFET form the upper and lower arms of the H-bridge, and the midpoint of the arms is connected to a brushed DC motor.

[0008] The power module consists of multiple DC-DC conversion circuits, each outputting different voltages to power the system.

[0009] In the control system of the aforementioned soft floor cleaning robot, a matching resistor is provided between the output terminal of the half-bridge driver chip and the gate of the MOSFET. A reverse diode is connected in parallel across the two ends of the matching resistor, wherein the anode of the reverse diode is connected to the gate of the MOSFET, and the cathode of the reverse diode is connected to the output terminal of the half-bridge driver chip; a filter capacitor is provided between the matching resistor and the midpoint of the bridge arm.

[0010] In the control system of the aforementioned soft floor cleaning robot, the half-bridge drive chip is an IR2104S chip, the power MOSFET is an IRFS3607PBF device, and the matching resistor has a resistance of 22Ω.

[0011] The control system of the aforementioned soft floor cleaning robot also includes a communication module, which is integrated into the main control module and supports wireless communication protocols and dual Type-C interfaces. The first Type-C interface is directly connected to the main control module via USB protocol, and the second Type-C interface is connected to the UART interface of the main control module via a USB-to-serial chip.

[0012] The control system of the aforementioned soft floor cleaning robot also includes a CAN bus drive unit. The CAN transceiver chip is an XL1050 chip, and its TXD and RXD pins are respectively connected to the CAN communication interface of the main control module, and the differential signal output terminal is connected to the CAN bus interface of the electronic speed controller.

[0013] The control system of the aforementioned soft floor cleaning robot includes a power module comprising a first DC-DC module, a second DC-DC module, and a low-dropout linear regulator module. The first DC-DC module has a 24V input and a 12V output. The second DC-DC module has an input connected to the first DC-DC module and a 5V output. The low-dropout linear regulator module has an input connected to the second DC-DC module and a 3.3V output.

[0014] The control system of the aforementioned soft floor cleaning robot also includes a protection module, which includes a resettable fuse and a TVS diode;

[0015] The TVS diodes are installed in the +24V, +12V, +5V and +3.3V power output lines;

[0016] The resettable fuse is connected in series at the input terminal of each DC-DC conversion circuit.

[0017] The control system of the aforementioned soft floor cleaning robot uses an ESP32-S3-WROOM-1 chip as its main control module. Its GPIO interface connects to multiple test points for external device debugging and motor sensor signal acquisition.

[0018] The control system of the aforementioned soft floor cleaning robot also includes:

[0019] The crystal oscillator is connected to the clock pin of the main control module via a matching capacitor.

[0020] Compared to existing technologies, this invention uses a CAN bus drive unit connected to the CAN communication interface of the main control module via a CAN transceiver chip to interact with the electronic speed controller of the brushless DC motor, receiving control signals and motor feedback information. This design achieves precise control of the brushless DC motor, allowing real-time adjustment of the motor's speed and torque according to different cleaning task requirements. The motor drive unit of this invention employs optocoupler isolation circuits and H-bridge drive circuits. The optocoupler isolation circuit effectively isolates the electrical signals between the main control module and the motor drive section, improving the system's anti-interference capability and ensuring the accuracy of the motor control signals. The H-bridge drive circuit can flexibly control the forward and reverse rotation and speed of the brushed DC motor, enabling the cleaning robot to operate more stably and efficiently on soft surfaces, improving cleaning effect and efficiency. Furthermore, this invention integrates the main control module, drive module, communication module, and power module onto a single circuit board, significantly reducing the number of connecting cables and interfaces in traditional multi-board systems, lowering circuit complexity and assembly costs. Simultaneously, the modular design supports unified control of different types of motors (brushless / brushed), improving system compatibility. The main control module of this invention adopts a high-performance ESP32-S3 microcontroller, combined with the CAN bus protocol and closed-loop feedback control of the electronic speed controller, to achieve precise speed regulation and torque adjustment of the brushless DC motor. For the brushed DC motor, the dead-time protection, bootstrap circuit, and 22Ω gate matching resistor of the H-bridge drive unit ensure safe switching of the power MOSFET, avoiding direct short circuits between the upper and lower bridge arms, while improving the response speed and accuracy of the PWM control signal. The power supply module of this invention uses a multi-stage DC-DC conversion circuit to output different voltages to power the system. The protection module of this invention integrates TVS diodes (such as SMF24CA) and resettable fuses, which can absorb voltage spikes and prevent overcurrent damage, ensuring long-term stable operation of the system under complex working conditions on soft ground. The communication module of this invention integrates WiFi / Bluetooth wireless functions, supporting remote monitoring of motor status and issuing control commands; the dual Type-C interface design accommodates both USB direct connection programming and CH340 chip to serial port debugging functions, and together with the test points reserved in the main control module, significantly improves system debugging efficiency and fault diagnosis capabilities. The main control module of this invention features abundant GPIO interfaces that can connect to various external sensors (such as position and current sensors), supporting closed-loop control algorithm expansion. The optimized PCB layout balances heat dissipation and electromagnetic compatibility, while reserving interfaces and expansion space for future functional upgrades. In summary, this invention, through hardware integration, solves the problems of structural redundancy, response lag, and insufficient anti-interference capability in multi-motor control systems, offering advantages of high reliability, ease of maintenance, and low cost. It is suitable for soft-floor cleaning robots in various scenarios such as homes and industries. Attached Figure Description

[0021] Figure 1This is a schematic diagram of the circuit principle of the main control module;

[0022] Figure 2 This is a schematic diagram of the circuit principle of the CAN bus driver unit;

[0023] Figure 3 This is a schematic diagram of the optocoupler isolation circuit for the left drive wheel;

[0024] Figure 4 This is a schematic diagram of the optocoupler isolation circuit for the right drive wheel;

[0025] Figure 5 This is a schematic diagram of the H-bridge drive circuit for one of the drive wheels on the left.

[0026] Figure 6 This is a schematic diagram of the H-bridge drive circuit for the other drive wheel on the left.

[0027] Figure 7 This is a schematic diagram of the H-bridge drive circuit for one of the drive wheels on the right side.

[0028] Figure 8 This is a schematic diagram of the H-bridge drive circuit for the other drive wheel on the right.

[0029] Figure 9 This is a schematic diagram of the circuit principle of the communication module;

[0030] Figure 10 This is a schematic diagram of the circuit principle of a USB to serial port chip;

[0031] Figure 11 This is the schematic diagram of the power conversion circuit of the first DC-DC chip;

[0032] Figure 12 This is the schematic diagram of the power conversion circuit of the second DC-DC chip;

[0033] Figure 13 This is the schematic diagram of the power conversion circuit for a low dropout linear regulator chip.

[0034] Figure 14 This is the schematic diagram of the overvoltage protection and power output interface circuit;

[0035] Figure 15 This is a schematic diagram of the walking motor of a robot for cleaning soft floors;

[0036] Figure 16 This is a schematic diagram of the vibration screening motor of a soft floor cleaning robot.

[0037] Figure Labels

[0038] 100. Walking motor; 101. Vibrating screening motor. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0040] Example: A control system for a soft floor cleaning robot, applied to, for example... Figure 15 and Figure 16 The soft floor cleaning robot shown has a vibration screening motor 101 (DC brushless motor) and a walking motor 100 (DC brushed motor); the control system includes:

[0041] The main control module uses a microcontroller with integrated WiFi and Bluetooth communication functions to generate motor control signals and communication commands; such as Figure 1 As shown, the main control module uses the ESP32-S3-WROOM-1 chip, which features high performance and low power consumption, and integrates an Xtensa 32-bit LX7 microprocessor. The chip receives a 3.3V power input to power the module and related circuits. Capacitors C1 (22μF), C2 (0.1μF), and C9 (1μF) are power supply filter capacitors. The larger capacitor C1 stores electrical energy, smooths the power supply voltage, and filters low-frequency noise; the smaller capacitors C2 and C9 filter high-frequency noise to ensure power supply stability. X1 is a 32.768kHz crystal oscillator, which, together with capacitors C3 and C4 (12pF), forms a crystal oscillator circuit to provide a precise clock signal for the chip, used for functions such as RTC (Real-Time Clock), ensuring the accuracy of time-related operations. SW1 is a reset button; pressing it resets the chip. SW2 is a boot button; combined with the reset operation, it puts the chip into Bootloader mode for program download and firmware upgrades. CANH and CANL are CAN bus interface pins used for controller area network communication. TXD0 and RXD0 are Universal Asynchronous Receiver / Transmitter (UART) interface pins used for serial communication between the chip and external devices (such as computers, sensors, etc.). USB-D+ and USB-D- are USB interface pins used for USB communication, enabling data transfer, device power supply, and program downloading. PSRAM is an external pseudo-static random access memory pin used to increase the chip's data storage and processing capabilities, playing a crucial role when the chip needs to handle large data volume tasks (such as high-definition images, audio streams, etc.).

[0042] The CAN bus driver unit, connected to the CAN communication interface of the main control module via a CAN transceiver chip, is used to exchange control signals and motor feedback information with the electronic speed controller of the brushless DC motor; for example... Figure 2As shown, the CAN bus driver unit uses the XL1050 chip. Its TXD and RXD pins are connected to the CAN communication interface of the main control module, and the differential signal output is connected to the CAN bus interface of the electronic speed controller. The XL1050 is a CAN bus transceiver chip, which is used to realize the physical layer interface conversion between the microcontroller and the CAN bus. In the CAN network, it is responsible for converting the logic level signal output by the microcontroller into a differential signal suitable for CAN bus transmission, and at the same time, it can also convert the differential signal on the CAN bus into a logic level signal that the microcontroller can recognize. Among them, pin 1 (TXD) is the transmit data pin, connected to the external CAN_TX signal, used to receive the data sent by the microcontroller to be transmitted to the CAN bus. Pin 2 (GND) is the ground pin, providing an electrical reference potential for the chip to ensure the electrical stability of the chip's normal operation. Pin 3 (VCC) is the power supply pin, connected to the +5V power supply, providing power for the chip's operation. Pin 4 (RXD) is the receive data pin, connected to the external CAN_RX signal, used to transmit the data received from the CAN bus to the microcontroller. Pin 5 (Vref) is the reference voltage pin, used to provide the reference voltage for internal circuitry. Pin 6 (CANL) is the CAN bus low-level signal pin, forming a differential signal pair with CANH for data transmission on the CAN bus. Pin 7 (CANH) is the CAN bus high-level signal pin, forming a differential signal pair with CANL for data transmission, improving signal transmission immunity. Pin 8 (S) is the slope control pin, which allows external circuitry to control the rising and falling edge slopes of the CAN bus signal to optimize signal transmission and reduce electromagnetic interference (EMI). J1 (Conn_01x02) is a connector used to connect the CANH and CANL signals to an external CAN bus network for communication with other CAN nodes. R4 is a 120-ohm resistor, the CAN bus termination resistor, used to match the characteristic impedance of the bus, reduce signal reflection, and ensure the integrity and reliability of signal transmission.

[0043] The motor drive unit consists of an optocoupler isolation circuit and an H-bridge drive circuit; such as Figure 3 and Figure 4 As shown, the optocoupler isolation circuit includes an optocoupler chip, the input terminal of which is connected to the PWM signal output by the main control module; as shown... Figure 5As shown, the H-bridge drive circuit includes a half-bridge drive chip and two power MOSFETs; the output terminal of the optocoupler chip is connected to the input terminal of the half-bridge drive chip, and the output terminal of the half-bridge drive chip is connected to the gate of the power MOSFETs; the source of one power MOSFET and the drain of the other MOSFET form the upper and lower arms of the H-bridge, and the midpoint of the arms is connected to a DC brushed motor. In this embodiment, since the robot has four drive wheels, each drive wheel has an H-bridge drive circuit, therefore the H-bridge drive circuits of the two drive wheels on the left (such as...) Figure 5 and Figure 6 (as shown) and Figure 3 The optocoupler isolation circuit connection shown is shown, and the H-bridge drive circuits for the two drive wheels on the right side (such as...) Figure 7 and Figure 8 (as shown) and Figure 4The optocoupler isolation circuit shown is configured. The half-bridge driver chip is an IR2104S chip, the power MOSFET is an IRFS3607PBF device, and the matching resistor has a resistance of 22Ω. The power supply section provides two voltage options: +12V and +24V. +12V powers the control circuit and other components, while +24V is typically used as the motor drive power supply, providing sufficient energy for motor operation. Capacitors C1 and C16 (a combination of 4.7μF and 0.1μF) are filter capacitors, filtering both the +12V and +24V power supplies to remove high-frequency and low-frequency noise, ensuring power supply stability and providing clean power for stable circuit operation. The MOSFET (IRF5307PBF) acts as a power switching device, controlling the motor current flow. By controlling its gate (G) voltage with a PWM signal, it can be switched on or off, thereby controlling the motor's speed and direction. For example, when the PWM_HI signal is high, the MOSFET is turned on, and current flows through the motor; when it is low, the MOSFET is turned off, and the motor current is cut off. Optocouplers (EL0531, EL0651) provide electrical isolation, separating the control circuit (such as the PWM signal output from the microcontroller) from the power circuit (motor drive section), preventing high voltage and high current from the power circuit from interfering with or damaging the control circuit, while ensuring accurate transmission of the control signal to the MOSFET gate. Diodes (1N4148WS, D5, D6, etc.): Switching diodes such as 1N4148WS are used for signal rectification and clamping; diodes such as D5 and D6 (e.g., D5 1N4148WS, D6 1N4148WS) are used for freewheeling protection. When the MOSFET is turned off, the motor generates a back electromotive force due to its inductive characteristics. The freewheeling diode provides a circuit for this back electromotive force, preventing excessively high back electromotive force from damaging the MOSFET and other devices. Resistors (R2, R7, R12, R17, etc.) serve to limit current and divide voltage. For example, resistors like R2, R7, R12, and R17 limit the current to the LEDs in the optocoupler, ensuring its normal operation. Other resistors are used in the MOSFET gate circuit to stabilize the gate voltage and regulate the drive signal. PWM signal inputs (PWM_HI_1, PWM_HI_2, PWM_HI_3, PWM_HI_4) are pulse width modulation signal input pins. By changing the duty cycle of the PWM signal, the conduction time of the MOSFET can be adjusted, thereby controlling the motor speed. SD signal inputs (SD_IN_1, SD_IN_2, SD_IN_3, SD_IN_4) are enable or brake signal input pins used to control the motor's start, stop, or braking functions.

[0044] In this embodiment, the half-bridge driver chip incorporates dead-time control and level conversion processing into the input signal at pin 2. It then outputs two complementary control signals from HO and LO to control the switching of the upper and lower bridge power MOSFETs (high level for on; low level for off). HO and LO signals are simultaneously low (SD_IN=0) or complementary (SD_IN=1), preventing simultaneous high levels and thus avoiding simultaneous conduction of the upper and lower bridges. The driver chip's output signals HO and LO do not directly control the gates of the upper and lower MOSFETs. Instead, they are connected in series with a 22R resistor, with a switching diode connected in reverse parallel across the resistor. The 22R resistor serves as a matching resistor to prevent resonance between Cgs and parasitic inductance, which could affect the normal operation of the MOSFETs. The switching diode accelerates the MOSFET turn-off. D6 and bootstrap capacitor C33 are used to increase the high-side gate drive voltage. The input control signals PWM_UH and PWM_UL are output after dual-channel high-speed optocoupler isolation. The upper and lower transistors of the H-bridge are connected to the positive and negative terminals of the motor, Motor+ and Motor-, respectively. The PWM and SD_IN signals are output by the main controller. The H-bridge can be used to control the forward and reverse rotation and speed of the motor. At the same time, some I / O interfaces of the main controller chip are brought out to connect to the motor's sensors, realizing closed-loop control of the motor.

[0045] The communication module, integrated into the main control module, supports wireless communication protocols and dual Type-C interfaces. The first Type-C interface is directly connected to the main control module via USB protocol, and the second Type-C interface is connected to the UART interface of the main control module via a USB-to-serial chip. Figure 9 As shown, P1 and P2 represent two USB-C interfaces, compliant with the USB 2.0 standard. A1 (GND) is the ground pin, providing an electrical reference potential for the interface to ensure signal transmission stability and security. A4 (VBUS) is the power supply pin, providing 5V power output to power connected devices. A5 is the CC (Configuration Channel) pin, used for device identification and power negotiation during connection; B5 is the VCONN pin, which powers certain functional modules of the USB-C interface in specific applications. A6 (D+) and A7 (D-) are USB 2.0 data transmission pins; D+ and D- form a differential signal pair for data transmission between devices. S1 (SHELD) is the shielding pin, used to connect the shielding layer, reducing electromagnetic interference (EMI) and improving signal transmission quality. Figure 10As shown, the USB-to-serial chip is the CH340N chip. The CH340N is a USB bus adapter chip that can convert a USB interface to a UART interface. VCC (pin 5) is the power supply pin, connected to a +3.3V power supply to provide power for the chip's operation. GND (pin 3) is the ground pin, providing an electrical reference potential to ensure normal chip operation. V3 (pin 8) can be connected to an external capacitor for power filtering in specific applications; here, it is directly connected to a +3.3V voltage. UD+ (pin 1) and UD- (pin 2) are USB data differential signal pins, connected to the D+ and D- lines of the USB interface respectively, used for receiving and transmitting USB data signals. TXD (pin 6) is the transmit data pin, connected to the external UART_RX signal, converting the data received from the USB interface into a UART signal for transmission to external devices. RXD (pin 7) is the receive data pin, connected to the external UART_TX signal, converting data sent by external devices via the UART interface into USB data format. RTS (pin 4) is the request to send signal pin, which can be used for functions such as flow control.

[0046] The power module includes multiple DC-DC conversion circuits that output different voltages to power the system, and filter capacitors are connected in parallel on the power lines.

[0047] The power supply module includes a first DC-DC module, a second DC-DC module, and a low-dropout linear regulator module. The input terminal of the first DC-DC module is connected to a 24V voltage, and the output terminal of the first DC-DC module outputs a 12V voltage. The input terminal of the second DC-DC module is connected to the output terminal of the first DC-DC module, and the output terminal of the second DC-DC module outputs a 5V voltage. The input terminal of the low-dropout linear regulator module is connected to the output terminal of the second DC-DC module, and the output terminal of the low-dropout linear regulator module outputs a 3.3V voltage.

[0048] The first DC-DC module uses the XL1509-12 chip, and its corresponding power conversion circuit schematic is shown below. Figure 11As shown, this is used to convert the input voltage to a stable +12V output voltage. The XL1509-12 is a step-down switching regulator chip capable of converting a higher input voltage to a stable 12V output voltage. Through its internal switching circuitry and feedback control mechanism, it achieves efficient voltage conversion and is commonly used in electronic devices requiring high voltage to 12V power supply. In the XL1509-12 chip, VIN (pin 1) is the input voltage pin, connected to the +24V power input, providing the necessary power for chip operation. GND (pins 2 and 4) are ground pins, providing an electrical reference potential to ensure the electrical stability of the chip during normal operation. EN (pin 4) is the enable pin, controlling the chip's operating state through external circuitry; a high level indicates normal operation, while a low level indicates a low-power standby state. FB (pin 3) is the feedback pin, forming a feedback loop through external resistors and other components. It detects the output voltage and sends the feedback signal back to the chip to adjust the switching circuitry's operation, ensuring the output voltage remains stable at the set value of 12V. OUT (pin 2) is the output voltage pin, outputting a converted 12V voltage to power subsequent circuits. C7 (470μF) and C10 (270μF) are input and output filter capacitors, respectively. C7 filters the input 24V power supply, removing low-frequency noise; C10 filters the output 12V voltage, smoothing the output voltage and reducing voltage fluctuations. D1 (1N5821) is a Schottky diode, which acts as a freewheeling diode in the switching regulator circuit. When the internal switch is turned off, the current in inductor L1 forms a loop through this diode, preventing excessive back electromotive force and protecting circuit components. L1 (68μH 2A) is an inductor, which, in conjunction with the internal circuitry, stores and releases energy during the switching process, achieving voltage conversion and stable output. F1 (Fuse) is a fuse; when an overcurrent occurs in the circuit, the fuse blows, cutting off the circuit and protecting subsequent circuit components from damage caused by excessive current.

[0049] The first DC-DC module uses the XL1509-5.0 chip, and its corresponding power conversion circuit schematic is as follows: Figure 12As shown, this is used to convert the input voltage to a stable +5V output voltage. The XL1509-5.0 is a step-down switching regulator chip that converts a higher input voltage to a stable 5V output voltage. Efficient voltage conversion is achieved through internal switching circuitry and feedback control. In the XL1509-5.0 chip, VIN (pin 1) is the input voltage pin, connected to a +12V power supply to provide power for chip operation. GND (pins 2 and 5) are ground pins, providing an electrical reference potential to ensure electrical stability during normal operation. EN (pin 4) is the enable pin, which allows external circuitry to control the chip's operating state; a high level indicates normal operation, while a low level indicates low-power standby. FB (pin 3) is the feedback pin, which uses an external resistor to create a feedback loop, detecting the output voltage and sending the feedback signal back to the chip to adjust the switching circuitry, ensuring the output voltage remains stable at 5V. OUT (pin 2) is the output voltage pin, outputting the converted 5V voltage to power subsequent circuits. C11 (470μF), C12 (1μF), and C18 (270μF) are input and output filter capacitors. C11 and C12 filter the 12V input power supply, removing high and low frequency noise; C18 filters the 5V output voltage, smoothing the voltage and reducing fluctuations. D4 (1N5820) is a Schottky diode, which acts as a freewheeling diode. When the internal switch is turned off, the current in inductor L2 forms a loop through this diode, preventing excessive back electromotive force and protecting circuit components. L2 (68μH 2A) is an inductor that works with the internal circuitry of the chip to store and release energy when the switch is turned on and off, achieving voltage conversion and stable output. F2 (Fuse) is a fuse that melts when there is an overcurrent, cutting off the circuit and protecting downstream components from damage caused by high current.

[0050] The low dropout linear regulator module uses the AMS117-3.3 chip, and its corresponding power conversion circuit schematic is shown below. Figure 13As shown, the AMS117-3.3 chip is used to convert the input voltage to a stable 3.3V output voltage. It is a low-dropout linear regulator (LDO) chip that can stably convert the input voltage to a 3.3V output, exhibiting low dropout characteristics and operating stably even with a small input-output voltage difference. In the AMS117-3.3 chip, VIN (pin 3) is the input voltage pin, connected to the +5V power supply to provide the necessary power for chip operation. VOUT (pin 2, connected to TAB) is the output voltage pin, outputting a regulated 3.3V voltage to power subsequent circuits. ADJ (pin 1, ground) is used to adjust the output voltage in the adjustable version; in this fixed 3.3V version, it is directly grounded to maintain a fixed output of 3.3V. GND (pin 1) is the ground pin, providing an electrical reference potential for the chip to ensure normal operation. C21 (10μF) and C26 (10μF) are the input and output filter capacitors, respectively. C21 filters the input 5V power supply, removing noise. C26 filters the output 3.3V voltage, smoothing the output voltage, reducing voltage fluctuations, and ensuring output voltage stability. F3 (Fuse) is a fuse that provides overcurrent protection. When an overcurrent occurs in the circuit, the fuse blows, cutting off the circuit and preventing excessive current from damaging subsequent circuit components.

[0051] In addition, the power module includes overvoltage protection and a power output interface, such as... Figure 14 As shown. D11 (SMF24CA), D16 (SMF12CA), D17 (SMF5.0CA), and D18 (SMF3.3CA) are transient voltage suppressor diodes (TVS). TVS diodes can clamp the voltage across them to a specific value for a very short time, absorbing large instantaneous energy and providing overvoltage protection. SMF24CA is used to protect the +24V power supply line. When a transient overvoltage occurs on this line, it quickly conducts, clamping the voltage to a safe value to prevent damage to subsequent circuits. SMF12CA protects the +12V power supply line, on the same principle. SMF5.0CA protects the +5V power supply line. SMF3.3CA protects the +3V3 power supply line. U13 (XT60), U14, U15, U16, and U17 are all power output interfaces. Interfaces U13-U17 all output +24V voltage. Pin 1 is the ground (GND) pin, and pin 2 is the +24V voltage output pin, which can be connected to external devices to provide them with 24V power.

[0052] Working principle

[0053] The ESP32-S3 microcontroller outputs PWM signals through its rich GPIO interface to control multiple IR2104STRPBF driver chips. Each IR2104STRPBF driver chip receives control signals from the ESP32-S3 and drives its connected IRFS3607PBF power MOSFET. The IRFS3607PBF power MOSFET controls the motor rotation according to the drive signals. The XL1050 CAN bus controller enables high-speed, reliable communication between systems, allowing multiple motor drive systems to work collaboratively. The CH340N chip provides a USB interface for easy communication and debugging with a host computer. A multi-channel power management scheme ensures that each part of the system receives the necessary stable power supply. Through this design, the system can achieve independent control and collaborative operation of multiple motors while ensuring control accuracy and real-time performance. The powerful computing capabilities of the ESP32-S3 enable the system to handle complex control algorithms, while the abundant interface resources improve the system's scalability.

[0054] Taking the control of two DC motors as an example:

[0055] 1. The ESP32-S3-WROOM-1 microcontroller outputs PWM signals through its GPIO interfaces (such as IO1, IO2, IO3, etc.) to control two sets of IR2104STRPBF driver chips (U10 and U11) respectively.

[0056] 2. Each IR2104STRPBF driver chip (U10 and U11) controls a group of IRFS3607PBF power MOSFETs (such as Q1, Q2 and Q3, Q4).

[0057] 3. The IRFS3607PBF power MOSFET forms an H-bridge circuit and is connected to the motor terminals (such as Motor1+, Motor1- and Motor2+, Motor2-).

[0058] 4. The ESP32-S3 controls the speed and direction of the motor by adjusting the duty cycle of the PWM signal.

[0059] 5. The system communicates with other systems through the XL1050 CAN bus controller (U3) to achieve multi-system collaborative control.

[0060] 6. The system can be connected to a host computer for system parameter settings and monitoring via the USB interface provided by the CH340N chip (U8).

[0061] 7. Power management chips such as XL1509-12 (U1), XL1509-5.0 (U4) and AMS1117-3.3 (U9) provide the system with the required +12V, +5V and +3.3V power supplies.

[0062] With this implementation method, the system can precisely control the speed and direction of two DC motors and work in conjunction with other systems to achieve complex multi-motor control tasks.

Claims

1. A control system of a soft floor cleaning robot, characterized in that, include: The main control module uses a microcontroller with integrated WiFi and Bluetooth communication functions to generate motor control signals and communication commands; The CAN bus driver unit is connected to the CAN communication interface of the main control module by a CAN transceiver chip, and is used to interact with the electronic speed controller of the brushless DC motor to exchange control signals and motor feedback information. The motor drive unit consists of an optocoupler isolation circuit and an H-bridge drive circuit. The optocoupler isolation circuit includes an optocoupler chip, the input of which is connected to the PWM signal output by the main control module. The H-bridge drive circuit includes a half-bridge drive chip and two power MOSFETs. The output of the optocoupler chip is connected to the input of the half-bridge drive chip, and the output of the half-bridge drive chip is connected to the gate of the power MOSFET. The source of one power MOSFET and the drain of the other MOSFET form the upper and lower arms of the H-bridge, and the midpoint of the arms is connected to a brushed DC motor. The power module consists of multiple DC-DC conversion circuits, each outputting different voltages to power the system.

2. The control system of the soft floor cleaning robot according to claim 1, characterized in that, A matching resistor is provided between the output terminal of the half-bridge driver chip and the gate of the MOSFET. A reverse diode is connected in parallel across the two ends of the matching resistor. The anode of the reverse diode is connected to the gate of the MOSFET, and the cathode of the reverse diode is connected to the output terminal of the half-bridge driver chip. A filter capacitor is provided between the matching resistor and the midpoint of the bridge arm.

3. The control system of the soft floor cleaning robot according to claim 2, characterized in that, The half-bridge driver chip is an IR2104S chip, the power MOSFET is an IRFS3607PBF device, and the matching resistor has a resistance of 22Ω.

4. The control system of the soft floor cleaning robot according to claim 1, characterized in that, It also includes a communication module, which is integrated into the main control module and supports wireless communication protocols and dual Type-C interfaces. The first Type-C interface is directly connected to the main control module via USB protocol, and the second Type-C interface is connected to the UART interface of the main control module via a USB to serial port chip.

5. The control system of the soft floor cleaning robot according to claim 1, characterized in that, The CAN transceiver chip is an XL1050 chip, with its TXD and RXD pins connected to the CAN communication interface of the main control module, and its differential signal output terminal connected to the CAN bus interface of the electronic speed controller.

6. The control system of the soft floor cleaning robot according to claim 1, characterized in that, The power supply module includes a first DC-DC module, a second DC-DC module, and a low-dropout linear regulator module. The input terminal of the first DC-DC module is connected to a 24V voltage, and the output terminal of the first DC-DC module outputs a 12V voltage. The input terminal of the second DC-DC module is connected to the output terminal of the first DC-DC module, and the output terminal of the second DC-DC module outputs a 5V voltage. The input terminal of the low-dropout linear regulator module is connected to the output terminal of the second DC-DC module, and the output terminal of the low-dropout linear regulator module outputs a 3.3V voltage.

7. The control system of the soft floor cleaning robot according to claim 1, characterized in that, It also includes a protection module, which includes a resettable fuse and a TVS diode; The TVS diodes are installed in the +24V, +12V, +5V and +3.3V power output lines; The resettable fuse is connected in series at the input terminal of each DC-DC conversion circuit.

8. The control system of the soft floor cleaning robot according to claim 1, characterized in that, The main control module uses the ESP32-S3-WROOM-1 chip, whose GPIO interface connects to multiple test points for external device debugging and motor sensor signal acquisition.

9. The control system of the soft floor cleaning robot according to claim 1, characterized in that, Also includes: The crystal oscillator is connected to the clock pin of the main control module via a matching capacitor.

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