A driving circuit and a water tank cleaning robot

Abstract

The utility model relates to the field of water tank cleaning robot, the utility model discloses a driving circuit and water tank cleaning robot, the driving circuit includes power conversion module, main control module, communication module, dial switch module and motor drive module, power conversion module links with main control module, communication module and motor drive module, main control module links with communication module, dial switch module and motor drive module, communication module is used to link with external device, and motor drive module is used to link with motor. The utility model can improve the stability and reliability of circuit.

Description

Technical Field

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

[0002] Water tank cleaning robots play a vital role in modern water tank maintenance. However, existing drive circuits for these robots suffer from several issues. The modular design of current drive circuits is inadequate, with insufficient connections and coordination between modules, leading to instability and reliability. For example, the output voltage stability of the power conversion module is poor, making it susceptible to load variations and affecting the normal operation of the main control and communication modules. Furthermore, the control precision and response speed of the motor drive module are insufficient, failing to meet the high-precision motion control requirements of water tank cleaning robots in complex working environments. These problems limit the performance and efficiency of water tank cleaning robots in practical applications, necessitating further improvement and optimization.

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

[0004] The purpose of this invention is to provide a drive circuit and a water tank cleaning robot that can improve the stability and reliability of the circuit.

[0005] To solve the above-mentioned technical problems, this utility model provides a drive circuit, including a power conversion module, a main control module, a communication module, a DIP switch module, and a motor drive module;

[0006] The power conversion module is connected to the main control module, the communication module, and the motor drive module; the main control module is connected to the communication module, the DIP switch module, and the motor drive module; the communication module is used to connect to external devices; and the motor drive module is used to connect to the motor.

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

[0008] Furthermore, the main control module includes chip U2, capacitors C1, C2, and C4, resistor R1, and switch SW3;

[0009] The VDD / VDDA pin of chip U2 is connected to the 3.3V output terminal of the power conversion module; the VSS / VSSA pin of chip U2 is grounded; one end of capacitor C2 is connected to the VDD / VDDA pin, and the other end is grounded; one end of capacitors C1 and C4 is connected to the NRST pin of chip U2, and the other end is grounded; one end of resistor R1 is connected to the 3.3V output terminal, and the other end is connected to the NRST pin of chip U2; one end of switch SW3 is connected to the NRST pin of chip U2, and the other end is grounded.

[0010] Furthermore, the main control module also includes a first indicator LED1, a second indicator LED2, and a resistor R6;

[0011] One end of resistor R6 is connected to the positive terminal M+ of the motor; the anode of the first indicator LED1 is connected to the other end of resistor R6, and the cathode is connected to the negative terminal M- of the motor; the second indicator...

[0012] The cathode of LED2 is connected to the other end of the resistor R6, and the anode is connected to the negative terminal M- of the motor; the first indicator LED1 and the second indicator LED2 are used to indicate the working status of the motor.

[0013] Furthermore, the communication module includes a first communication circuit and a second communication circuit.

[0014] Furthermore, the DIP switch module includes a DIP switch SW1, resistors R2, R3, R4, and R5;

[0015] The DIP switch SW1 includes four switch contacts. One end of each switch contact is connected to the 3.3V output terminal of the power conversion module through resistors R2, R3, R4, and R5, respectively, and the other end is grounded. The DIP switch SW1 is used to select the working mode of the water tank cleaning robot.

[0016] Furthermore, the motor drive module includes a first motor drive circuit and a second motor drive circuit;

[0017] The first motor drive circuit includes chip U5, transistor Q10, transistor Q9, diode D6, diode D7, resistor R15, resistor R16, capacitor C7, capacitor C9, capacitor C21 and diode D24.

[0018] The VCC pin of chip U5 is connected to the 24V input terminal of the power conversion module, one end of capacitor C7, and one end of diode D24; the GND pin of chip U5 is grounded to the other end of capacitor C7; the IN pin of chip U5 is connected to the pin of chip U2 in the main control module, with the connection signal being EG1_IN; the #SD pin of chip U5 is connected to the pin of chip U2 in the main control module, with the connection signal being EG_SD; the LO pin of chip U5 is connected to one end of resistor R16 and one end of diode D7; the HO pin of chip U5 is connected to one end of resistor R15. The diode D6 is connected to one end of the chip U5; the VS pin of the chip U5 is connected to the source of the transistor Q10 and the drain of the transistor Q9; the VB pin of the chip U5 is connected to the other end of the diode D24; one end of the capacitors C9 and C21 is connected to the VB pin, and the other end is connected to the VS pin; the drain of the transistor Q10 is connected to the 24V input terminal, and the gate is connected to the other end of the resistor R15 and the other end of the diode D6; the source of the transistor Q9 is grounded, the drain is connected to the positive terminal M+ of the motor, and the gate is connected to the other end of the resistor R16 and the other end of the diode D7.

[0019] Furthermore, the second motor drive circuit includes chip U6, transistor Q5, transistor Q6, diode D4, diode D5, resistor R19, resistor R20, capacitor C8, capacitor C12, capacitor C22 and diode D23;

[0020] The VCC pin of chip U6 is connected to the 24V input terminal of the power conversion module, one end of capacitor C8, and one end of diode D23; the GND pin of chip U6 is grounded to the other end of capacitor C8; the IN pin of chip U6 is connected to the pin of chip U2 in the main control module, with the connection signal being EG2_IN; the #SD pin of chip U6 is connected to the pin of chip U2 in the main control module, with the connection signal being EG_SD; the LO pin of chip U6 is connected to one end of resistor R19 and one end of diode D4; the HO pin of chip U6 is connected to one end of resistor R20. The VS pin of the chip U6 is connected to the source of the transistor Q6 and the drain of the transistor Q5; the VB pin of the chip U6 is connected to the other end of the diode D23; one end of the capacitor C22 and the capacitor C12 are both connected to the VB pin, and the other end of both are connected to the VS pin; the drain of the transistor Q6 is connected to the 24V input terminal, and the gate is connected to the other end of the resistor R20 and the other end of the diode D5; the source of the transistor Q5 is grounded, the drain is connected to the positive terminal M+ of the motor, and the gate is connected to the other end of the resistor R19 and the other end of the diode D4.

[0021] Furthermore, the motor drive module also includes capacitors C13 and C14; one end of capacitors C13 and C14 is connected to the drain of transistors Q10 and Q6, and the other end is grounded; capacitors C13 and C14 are used to filter out electromagnetic interference generated during motor operation.

[0022] 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 drive circuit as described above, which is used to drive the motor in the robot body to operate according to the received control signal, so as to realize the movement of the robot body and the operation of the cleaning system.

[0023] Through the above technical solution, this utility model has the following beneficial effects:

[0024] Through the coordinated operation of the power conversion module, main control module, communication module, DIP switch module, and motor drive module, the drive circuit achieves efficient and stable operation. The power conversion module provides a stable power supply for each module, the main control module precisely processes and controls the signals, the communication module ensures stable communication with external devices, the DIP switch module provides flexible operating mode selection, and the motor drive module precisely drives the motor, thus meeting the high-precision motion control requirements of the water tank cleaning robot in complex working environments.

[0025] Furthermore, by adding capacitors C13 and C14 to the motor drive module, electromagnetic interference generated during motor operation can be effectively filtered out, improving the anti-interference capability and reliability of the entire circuit system, thereby enhancing the performance and service life of the water tank cleaning robot. Attached Figure Description

[0026] Figure 1 This is a block diagram of the driving circuit in one embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the 24V input circuit of the power conversion module in the drive circuit of one embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the 24V to 12V circuit of the power conversion module in the drive circuit of one embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the 12V to 3.3V circuit of the power conversion module in the drive circuit of one embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the main control module in the drive circuit of one embodiment of the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of the first communication circuit in the driving circuit of one embodiment of the present invention;

[0032] Figure 7 This is a schematic diagram of the structure of the second communication circuit in the driving circuit of one embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram of the structure of the DIP switch module in the drive circuit of one embodiment of the present invention;

[0034] Figure 9 This is a schematic diagram of the motor drive module in the drive circuit of one embodiment of the present invention.

[0035] In the diagram, 821 is the power conversion module; 822 is the main control module; 823 is the communication module; 824 is the DIP switch module; and 825 is the motor drive module. Detailed Implementation

[0036] 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.

[0037] The following is a more detailed description of a drive circuit and water tank cleaning robot according to the present invention, with reference to the accompanying drawings, which illustrate preferred embodiments of the present invention. It should be understood that those skilled in the art can modify the present invention 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 present invention.

[0038] 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.

[0039] like Figure 1 As shown in the figure, this utility model embodiment proposes a driving circuit, including a power conversion module 821, a main control module 822, a communication module 823, a DIP switch module 824, and a motor drive module 825.

[0040] Specifically, the power conversion module 821 is connected to the main control module 822, the communication module 823, and the motor drive module 825; the main control module 822 is connected to the communication module 823, the DIP switch module 824, and the motor drive module 825; the communication module 823 is used to connect to external devices; and the motor drive module 825 is used to connect to a motor.

[0041] In a specific example, combined Figures 2-4 As shown, the power conversion module 821 includes a 24V input circuit, a 24V to 12V circuit, and a 12V to 3.3V circuit.

[0042] In this embodiment, refer to Figure 2 As shown, the 24V input circuit includes a chip U3, a fuse F2, an inductor L1, capacitors C3, C10, and C11, a Zener diode D16, and a Zener diode D17. The first and second pins of the chip U3 are connected to the positive and negative terminals of the motor, respectively. The third pin is connected to one end of the fuse F2, and the fourth pin is grounded. The other end of the fuse F2 is connected to one end of capacitor C10, Zener diode D16, and inductor L1. The other ends of capacitor C10 and Zener diode D16 are both grounded. The other end of inductor L1 is connected to one end of capacitor C3, Zener diode D17, and capacitor C11, forming a 24V input terminal. The other ends of capacitor C3, Zener diode D17, and capacitor C11 are all grounded.

[0043] In this embodiment, refer to Figure 3As shown, the 24V to 12V circuit includes chip U32, inductor L4, capacitors C23, C27, C28, C32, C33, and C34, resistors R91, R92, R93, R99, and R100. The VIN pin of chip U32 is connected to the 24V input terminal of the 24V input circuit, one end of capacitor C28, and one end of capacitor C34. The SW pin is connected to one end of inductor L4, the BOOT pin is connected to one end of capacitor C23, the EN pin is connected to one end of resistors R91 and R100, and the VFB pin is connected to... The inductor L4 is connected to one end of resistors R93 and R92 and capacitor C33; the other end of inductor L4 is connected to one end of capacitors C32 and C27, forming a 12V output terminal; the other ends of capacitors C32 and C27 are both grounded; one end of capacitor C28 and the other end of capacitor C34 are both grounded; the other ends of resistors R93 and R100 are both grounded; the other ends of resistors R92 and C33 are both connected to one end of resistor R99; the other end of resistor R99 is connected to the 12V output terminal; the other end of resistor R91 is connected to the 24V input terminal.

[0044] The chip U32 can be a TPS54202DDCR chip. Those skilled in the art will know that the model of chip U32 can be set according to actual needs, and may also include other embodiments besides this one.

[0045] In this embodiment, refer to Figure 4 As shown, the 12V to 3.3V circuit includes chip U7, inductor L3, capacitors C15, C16, C17, C18, C19, C20, C21, C22, resistors R17 and R18. The VIN pin of chip U7 is connected to the 12V output terminal of the 12V to 3.3V circuit, one end of capacitor C16, and one end of capacitor C15. The SW pin is connected to one end of inductor L3. The BOOT pin is connected to one end of capacitor C20. The EN pin is connected to one end of resistors R7 and R21. The VFB pin is connected to the resistors R17 and R18. R17, R18, and one end of capacitor C17; the other end of inductor L3 is connected to one end of capacitors C18 and C19, forming a 3.3V output terminal; the other ends of capacitors C18 and C19 are both grounded; one end of capacitor C16 and the other end of capacitor C15 are both grounded; the other ends of resistors R17 and R7 are both grounded; the other ends of resistors R18 and C17 are both connected to one end of resistor R8; the other end of resistor R8 is connected to the 3.3V output terminal; the other end of resistor R21 is connected to the 12V output terminal.

[0046] The chip U7 can be a TPS54202DDCR chip. Those skilled in the art will know that the model of chip U7 can be set according to actual needs, and may also include other embodiments besides this one.

[0047] In this embodiment, the power conversion module 821 provides a stable power supply for the entire drive circuit. It includes a 24V input circuit, a 24V to 12V circuit, and a 12V to 3.3V circuit. The 24V input circuit, through components such as chip U3, stably connects to an external 24V power supply, providing a basic power source for subsequent circuits and improving the stability and reliability of the power input. The 24V to 12V circuit, using components such as chip U32, efficiently converts the 24V voltage to 12V, providing a stable voltage for modules requiring 12V power, enhancing power conversion efficiency and stability. The 12V to 3.3V circuit, with the help of components such as chip U7, further converts the 12V voltage to 3.3V, meeting the power supply requirements of low-voltage modules, ensuring the stable operation of the entire circuit system, and improving the accuracy and reliability of power conversion.

[0048] In one embodiment, such as Figure 5 As shown, the main control module 822 includes chip U2, capacitor C1, capacitor C2, capacitor C4, resistor R1, and switch SW3.

[0049] Specifically, the VDD / VDDA pin of chip U2 is connected to the 3.3V output terminal of the power conversion module 821; the VSS / VSSA pin of chip U2 is grounded; one end of capacitor C2 is connected to the VDD / VDDA pin, and the other end is grounded; one end of capacitors C1 and C4 is connected to the NRST pin of chip U2, and the other end is grounded; one end of resistor R1 is connected to the 3.3V output terminal, and the other end is connected to the NRST pin of chip U2; one end of switch SW3 is connected to the NRST pin of chip U2, and the other end is grounded.

[0050] The chip U2 can be an STM32G030F6P6 chip. Those skilled in the art will know that the model of chip U2 can be set according to actual needs, and may also include other embodiments besides this one.

[0051] In this embodiment, the main control module 822 further includes a first indicator LED1, a second indicator LED2, and a resistor R6. Specifically, one end of the resistor R6 is connected to the positive terminal M+ of the motor; the anode of the first indicator LED1 is connected to the other end of the resistor R6, and the cathode is connected to the negative terminal M- of the motor; the cathode of the second indicator LED2 is connected to the other end of the resistor R6, and the anode is connected to the negative terminal M- of the motor; the first indicator LED1 and the second indicator LED2 are used to indicate the operating status of the motor.

[0052] In this embodiment, the main control module 822 serves as the control core of the drive circuit and includes components such as chip U2. The VDD / VDDA pins of chip U2 are connected to the 3.3V output terminal of the power conversion module 821 to maintain a stable power supply to the main control chip; its VSS / VSSA pins are grounded, ensuring stable circuit operation. Components such as capacitor C2 are connected to the NRST pin of chip U2, forming a reset circuit, which enhances the anti-interference capability of the main control module 822 and improves system stability. The main control module 822 also includes components such as a first indicator light LED1 to indicate the motor's operating status, allowing users to monitor the motor's operation in real time, thus improving ease of use and reliability.

[0053] In one embodiment, such as Figure 6 and Figure 7 As shown, the communication module 823 includes a first communication circuit and a second communication circuit.

[0054] In this embodiment, refer to Figure 6 As shown, the first communication circuit includes chip U1, resistors R9, R11, R12, R13, R14, R22, capacitors C5 and C6, protection diodes D1, D18, and D19.

[0055] Specifically, the VCC pin of chip U1 is connected to the 3.3V output terminal of the power conversion module 821, and the GND pin is grounded; the RO pin of chip U1 is connected to the pin of chip U2 through resistor R14, with the connection signal being USART1_R; the DI pin of chip U1 is connected to the pin of chip U2, with the connection signal being USART1_T; the RE# and DE pins of chip U1 are both connected to the pins of chip U2, with the connection signal being 485A0_EN; the A and B pins of chip U1 are respectively connected to the external device signals 485A0_A and 485A0_B; one end of resistor R9 is connected to the A pin of chip U1, and the other end is connected to the B pin of chip U1. The pins are connected; one end of resistors R11 and R12 is connected to pin A and pin B of chip U1 respectively, and the other end is connected to the 3.3V output terminal and ground respectively; one end of resistor R13 is connected to the 3.3V output terminal, and the other end is connected to pin DI of chip U1; one end of capacitor C5 is connected to the VCC pin of chip U1, and the other end is grounded; one end of capacitor C6 is connected to the 3.3V output terminal, and the other end is grounded; protection diode D18 is connected between pin A and pin B of chip U1; the cathode of protection diode D1 is connected to pin B of chip U1, and the anode is grounded; the cathode of protection diode D19 is connected to pin A of chip U1, and the anode is grounded.

[0056] The chip U1 can be a chip with the model number SP3485EN-L / TR. Those skilled in the art will know that the model of chip U1 can be set according to actual needs, and may also include other embodiments besides this one.

[0057] In this embodiment, reference continues to be made to Figure 7 As shown, the second communication circuit includes chip U30, resistors R98, R97, R96, R95, R94, R10, capacitors C30 and C29, and protection diodes D20, D21, and D22.

[0058] Specifically, the VCC pin of chip U30 is connected to the 3.3V output terminal of the power conversion module 821, and the GND pin is grounded; the RO pin of chip U30 is connected to the pin of chip U2 through resistor R94, with the connection signal being USART2_R; the DI pin of chip U30 is connected to the pin of chip U2, with the connection signal being USART2_T; the RE# and DE pins of chip U30 are both connected to the pins of chip U2, with the connection signal being 485A1_EN; the A and B pins of chip U30 are respectively connected to the external device signals 485A1_A and 485A1_B; one end of resistor R98 is connected to the A pin of chip U30, and the other end is connected to the B pin of chip U30. The pins are connected; one end of resistors R97 and R96 is connected to pin A and pin B of chip U30 respectively, and the other end is connected to the 3.3V output terminal and ground respectively; one end of resistor R95 is connected to the 3.3V output terminal, and the other end is connected to pin DI of chip U30; one end of capacitor C30 is connected to pin VCC of chip U30, and the other end is grounded; one end of capacitor C29 is connected to the 3.3V output terminal, and the other end is grounded; protection diode D21 is connected between pin A and pin B of chip U30; the cathode of protection diode D20 is connected to pin B of chip U30, and the anode is grounded; the cathode of protection diode D22 is connected to pin A of chip U30, and the anode is grounded.

[0059] The chip U30 can be a chip with the model number SP3485EN-L / TR. Those skilled in the art will know that the model of chip U30 can be set according to actual needs, and may also include other embodiments besides this one.

[0060] In this embodiment, the communication module 823 is a key component for data interaction between the drive circuit and external devices, and includes a first communication circuit and a second communication circuit. The first communication circuit, through components such as chip U1, achieves stable communication with external devices, improving communication efficiency and reliability. The second communication circuit, with the help of components such as chip U30, further enhances communication capabilities, improves communication stability and anti-interference capabilities, and enhances the overall communication performance of the drive circuit.

[0061] In one embodiment, such as Figure 8 As shown, the DIP switch module 824 includes a DIP switch SW1, resistors R2, R3, R4, and R5.

[0062] Specifically, the DIP switch SW1 includes four switch contacts. One end of each switch contact is connected to the 3.3V output terminal of the power conversion module 821 through resistors R2, R3, R4, and R5, respectively, while the other end is grounded. The DIP switch SW1 is used to select the working mode of the water tank cleaning robot. By using different combinations of the DIP switch SW1, the working mode of the drive circuit can be flexibly selected, improving the versatility and flexibility of the drive circuit and enhancing the user's control over the equipment.

[0063] In one embodiment, such as Figure 9 As shown, the motor drive module 825 includes a first motor drive circuit and a second motor drive circuit.

[0064] In this embodiment, the first motor drive circuit includes chip U5, transistor Q10, transistor Q9, diode D6, diode D7, resistor R15, resistor R16, capacitor C7, capacitor C9, capacitor C21, and diode D24.

[0065] Specifically, the VCC pin of chip U5 is connected to the 24V input terminal of the power conversion module 821, one end of capacitor C7, and one end of diode D24; the GND pin of chip U5 is grounded to the other end of capacitor C7; the IN pin of chip U5 is connected to the pin of chip U2 in the main control module 822, with the connection signal being EG1_IN; the #SD pin of chip U5 is connected to the pin of chip U2 in the main control module 822, with the connection signal being EG_SD; the LO pin of chip U5 is connected to one end of resistor R16 and one end of diode D7; the HO pin of chip U5 is connected to the... One end of resistor R15 is connected to one end of diode D6; the VS pin of chip U5 is connected to the source of transistor Q10 and the drain of transistor Q9; the VB pin of chip U5 is connected to the other end of diode D24; one end of capacitor C9 and one end of capacitor C21 are both connected to the VB pin, and the other end of both are connected to the VS pin; the drain of transistor Q10 is connected to the 24V input terminal, and the gate is connected to the other end of resistor R15 and the other end of diode D6; the source of transistor Q9 is grounded, the drain is connected to the positive terminal M+ of the motor, and the gate is connected to the other end of resistor R16 and the other end of diode D7.

[0066] In this embodiment, the second motor drive circuit includes chip U6, transistor Q5, transistor Q6, diode D4, diode D5, resistor R19, resistor R20, capacitor C8, capacitor C12, capacitor C22 and diode D23.

[0067] Specifically, the VCC pin of chip U6 is connected to the 24V input terminal of the power conversion module 821, one end of capacitor C8, and one end of diode D23; the GND pin of chip U6 is grounded to the other end of capacitor C8; the IN pin of chip U6 is connected to the pin of chip U2 in the main control module 822, with the connection signal being EG2_IN; the #SD pin of chip U6 is connected to the pin of chip U2 in the main control module 822, with the connection signal being EG_SD; the LO pin of chip U6 is connected to one end of resistor R19 and one end of diode D4; the HO pin of chip U6 is connected to the... One end of resistor R20 is connected to one end of diode D5; the VS pin of chip U6 is connected to the source of transistor Q6 and the drain of transistor Q5; the VB pin of chip U6 is connected to the other end of diode D23; one end of capacitor C22 and one end of capacitor C12 are both connected to the VB pin, and the other end of both are connected to the VS pin; the drain of transistor Q6 is connected to the 24V input terminal, and the gate is connected to the other end of resistor R20 and the other end of diode D5; the source of transistor Q5 is grounded, the drain is connected to the positive terminal M+ of the motor, and the gate is connected to the other end of resistor R19 and the other end of diode D4.

[0068] In this embodiment, chips U6 and U5 can be EG2104S chips. Those skilled in the art will understand that the models of chips U6 and U5 can be set according to actual needs, and may also include other embodiments besides this one.

[0069] In this embodiment, the motor drive module 825 is the core execution part of the drive circuit, including a first motor drive circuit and a second motor drive circuit. The first motor drive circuit, through components such as chip U5, achieves precise drive control of the motor, improving the motor's driving capability and control accuracy, and enhancing the overall performance of the drive circuit. The second motor drive circuit, with the help of components such as chip U6, further enhances the motor's driving capability, ensures stable motor operation, and improves the reliability and efficiency of the drive circuit.

[0070] In one embodiment, the motor drive module 825 further includes capacitors C13 and C14. Specifically, one end of capacitors C13 and C14 is connected to the drain of transistors Q10 and Q6, respectively, and the other end is grounded. Capacitors C13 and C14 are used to filter out electromagnetic interference generated during motor operation, improving the anti-interference capability and reliability of the entire circuit system and ensuring the stable operation of the drive circuit in complex working environments.

[0071] In this embodiment, the motor drive module 825 receives the operation information processed by the main control module 822 and drives the motor to rotate according to the operation information. The motor drive module 825 mainly drives the following motors: four motors (front and rear) for robot track movement control; a lifting motor for adjusting the robot's height; a turret motor for controlling the turret's rotation; and a cleaning motor for cleaning operations. All these motors are driven by the motor drive module 825 after receiving the information processed by the main control module 822.

[0072] The motor drive module 825 is controlled via a DIP switch, specifically as follows: binary 0x01 controls the left-side walking motor, 0x02 controls the right-side walking motor, and 0x03 controls the turret lifting motor. In this way, the motor drive module 825 can flexibly drive the corresponding motors according to different control requirements, realizing various movement functions of the robot. When the main control module 822 receives and processes external control signals, it sends the processed operation information to the motor drive module 825. The motor drive module 825, based on the received operation information, selects the corresponding motor to drive via the DIP switch, realizing functions such as robot walking, lifting, turret rotation, and cleaning operations. Through this setup, the motor drive module 825 can efficiently and accurately control the operation of each motor, meeting the motion control requirements of the water tank cleaning robot in complex working environments.

[0073] 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 a drive circuit as described above, used to drive the motor in the robot body to operate according to received control signals, thereby realizing the movement of the robot body and the operation of the cleaning system. In this embodiment, the water tank cleaning robot, by employing the drive circuit, can achieve precise control of the robot's drive motor, enabling the robot to move stably along a predetermined trajectory on the inner wall of the water tank. The drive circuit provides stable power to each functional unit through a power conversion module. The main control module controls the motor drive module to adjust the motor speed and direction according to received instructions, enabling the robot to crawl and turn on the water tank wall. Simultaneously, a communication module allows for data exchange with external devices, receiving control commands and providing feedback on the working status. A DIP switch module can be used to select different working modes to meet different water tank cleaning needs.

[0074] In this embodiment, when an external control signal (e.g., a control signal from the control circuit) is input to the main control module 822 via the communication module 823, the main control module 822 processes the signal according to a preset control program and outputs the processed control signal to the motor via the motor drive module 825, driving the motor to operate in a set manner. Simultaneously, the DIP switch module 824 can select different operating modes as needed, and the power conversion module 821 provides a stable power supply to the entire circuit. This collaborative working method enables efficient and stable control of the water tank cleaning robot, meeting the high-precision motion control requirements of the water tank cleaning robot in complex working environments.

[0075] In summary, the drive circuit and water tank cleaning robot proposed in this utility model have the following advantages:

[0076] Through the coordinated operation of the power conversion module, main control module, communication module, DIP switch module, and motor drive module, the efficient and stable operation of the water tank cleaning robot's drive circuit is achieved. The power conversion module provides a stable power supply for each module, the main control module precisely processes and controls the signals, the communication module ensures stable communication with external devices, the DIP switch module provides flexible operating mode selection, and the motor drive module precisely drives the motor, thus meeting the high-precision motion control requirements of the water tank cleaning robot in complex working environments.

[0077] Furthermore, by adding capacitors C13 and C14 to the motor drive module, electromagnetic interference generated during motor operation can be effectively filtered out, improving the anti-interference capability and reliability of the entire circuit system, thereby enhancing the performance and service life of the water tank cleaning robot.

[0078] 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 driving circuit, characterized in that, It includes a power conversion module, a main control module, a communication module, a DIP switch module, and a motor drive module; The power conversion module is connected to the main control module, the communication module, the DIP switch module, and the motor drive module; the main control module is connected to the communication module, the DIP switch module, and the motor drive module; the communication module is used to connect to external devices; the motor drive module is used to connect to a motor. The main control module includes chip U2, capacitors C1, C2, and C4, resistor R1, and switch SW3. The VDD / VDDA pin of chip U2 is connected to the 3.3V output terminal of the power conversion module; the VSS / VSSA pin of chip U2 is grounded; one end of capacitor C2 is connected to the VDD / VDDA pin, and the other end is grounded; one end of capacitors C1 and C4 is connected to the NRST pin of chip U2, and the other end is grounded; one end of resistor R1 is connected to the 3.3V output terminal, and the other end is connected to the NRST pin of chip U2; one end of switch SW3 is connected to the NRST pin of chip U2, and the other end is grounded. The main control module also includes a first indicator LED1, a second indicator LED2, and a resistor R6; one end of the resistor R6 is connected to the positive terminal M+ of the motor; the anode of the first indicator LED1 is connected to the other end of the resistor R6, and the cathode is connected to the negative terminal M- of the motor; the cathode of the second indicator LED2 is connected to the other end of the resistor R6, and the anode is connected to the negative terminal M- of the motor; the first indicator LED1 and the second indicator LED2 are used to indicate the working status of the motor.

2. The driving circuit as described in claim 1, characterized in that, The power conversion module includes a 24V input circuit, a 24V to 12V circuit, and a 12V to 3.3V circuit.

3. The driving circuit as described in claim 1, characterized in that, The communication module includes a first communication circuit and a second communication circuit.

4. The driving circuit as described in claim 1, characterized in that, The DIP switch module includes a DIP switch SW1, resistors R2, R3, R4, and R5; The DIP switch SW1 includes four switch contacts. One end of each switch contact is connected to the 3.3V output terminal of the power conversion module through resistors R2, R3, R4, and R5, respectively, and the other end is grounded. The DIP switch SW1 is used to select the working mode of the water tank cleaning robot.

5. The driving circuit as described in claim 1, characterized in that, The motor drive module includes a first motor drive circuit and a second motor drive circuit. The first motor drive circuit includes chip U5, transistor Q10, transistor Q9, diode D6, diode D7, resistor R15, resistor R16, capacitor C7, capacitor C9, capacitor C21 and diode D24. The VCC pin of chip U5 is connected to the 24V input terminal of the power conversion module, one end of capacitor C7, and one end of diode D24; the GND pin of chip U5 is grounded to the other end of capacitor C7; the IN pin of chip U5 is connected to the pin of chip U2 in the main control module, with the connection signal being EG1_IN; the #SD pin of chip U5 is connected to the pin of chip U2 in the main control module, with the connection signal being EG_SD; the LO pin of chip U5 is connected to one end of resistor R16 and one end of diode D7; the HO pin of chip U5 is connected to one end of resistor R15. The diode D6 is connected to one end of the chip U5; the VS pin of the chip U5 is connected to the source of the transistor Q10 and the drain of the transistor Q9; the VB pin of the chip U5 is connected to the other end of the diode D24; one end of the capacitors C9 and C21 is connected to the VB pin, and the other end is connected to the VS pin; the drain of the transistor Q10 is connected to the 24V input terminal, and the gate is connected to the other end of the resistor R15 and the other end of the diode D6; the source of the transistor Q9 is grounded, the drain is connected to the positive terminal M+ of the motor, and the gate is connected to the other end of the resistor R16 and the other end of the diode D7.

6. The driving circuit as described in claim 5, characterized in that, The second motor drive circuit includes chip U6, transistor Q5, transistor Q6, diode D4, diode D5, resistor R19, resistor R20, capacitor C8, capacitor C12, capacitor C22 and diode D23; The VCC pin of chip U6 is connected to the 24V input terminal of the power conversion module, one end of capacitor C8, and one end of diode D23; the GND pin of chip U6 is grounded to the other end of capacitor C8; the IN pin of chip U6 is connected to the pin of chip U2 in the main control module, with the connection signal being EG2_IN; the #SD pin of chip U6 is connected to the pin of chip U2 in the main control module, with the connection signal being EG_SD; the LO pin of chip U6 is connected to one end of resistor R19 and one end of diode D4; the HO pin of chip U6 is connected to one end of resistor R20. The VS pin of the chip U6 is connected to the source of the transistor Q6 and the drain of the transistor Q5; the VB pin of the chip U6 is connected to the other end of the diode D23; one end of the capacitor C22 and the capacitor C12 are both connected to the VB pin, and the other end of both are connected to the VS pin; the drain of the transistor Q6 is connected to the 24V input terminal, and the gate is connected to the other end of the resistor R20 and the other end of the diode D5; the source of the transistor Q5 is grounded, the drain is connected to the positive terminal M+ of the motor, and the gate is connected to the other end of the resistor R19 and the other end of the diode D4.

7. The driving circuit as described in claim 6, characterized in that, The motor drive module also includes capacitors C13 and C14; one end of capacitors C13 and C14 is connected to the drain of transistors Q10 and Q6, and the other end is grounded; capacitors C13 and C14 are used to filter out electromagnetic interference generated during motor operation.

8. A water tank cleaning robot, characterized in that, It includes a robot body, a cleaning system, and a control system; the control system includes a drive circuit as described in any one of claims 1-7, used to drive the motor in the robot body to operate according to the received control signal, so as to realize the movement of the robot body and the operation of the cleaning system.

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