CN113189990A - Mobile robot and control circuit thereof - Google Patents
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- CN113189990A CN113189990A CN202110429771.2A CN202110429771A CN113189990A CN 113189990 A CN113189990 A CN 113189990A CN 202110429771 A CN202110429771 A CN 202110429771A CN 113189990 A CN113189990 A CN 113189990A
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 58
- 239000003990 capacitor Substances 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 8
- 238000012545 processing Methods 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 5
- 230000004927 fusion Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002253 acid Substances 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
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- 230000010365 information processing Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Radar, Positioning & Navigation (AREA)
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mobile robot and a control circuit thereof, wherein the control circuit comprises a ki nect sensor, a plurality of distance sensors, an analog-digital conversion circuit, a plurality of H-bridge driving circuits and a main control circuit, the ki nect sensor and the distance sensors are electrically connected with the analog-digital conversion circuit, the analog-digital conversion circuit and the H-bridge driving circuits are connected with the main control circuit, and the analog-digital conversion circuit is used for converting analog signals collected by the ki nect sensor and the distance sensors into digital signals and then outputting the digital signals to the main control circuit; the main control circuit is used for outputting a driving signal to the H-bridge driving circuit according to a plurality of digital signals; the H-bridge driving circuit is used for controlling the driving motor to act according to the driving signal output by the main control circuit so as to enable the mobile robot to avoid obstacles. The invention solves the technical problem of poor obstacle avoidance capability of the mobile robot in the prior art.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a mobile robot and a control circuit thereof.
Background
The research on mobile robots, which began at the Stanford institute in the 60's of the 20 th century, is now an important branch of robotics. Compared with a robot with a fixed position, the working environment of the mobile robot has the characteristics of non-structuralization and uncertainty, so that higher requirements are provided for the performance of the robot, the robot is required to complete specific functions, and the robot is required to have a walking function, an external perception capability, a local path planning capability and the like. The intelligent mobile robot integrates professional technologies such as artificial intelligence, intelligent control, information processing, image processing, detection and conversion, and the like, spans multiple disciplines such as computers, automatic control, machinery, electronics and the like, and becomes one of the hotspots of current intelligent robot research.
As the working environment of the mobile robot has more uncertainty, the mobile robot is usually required to track a planned feasible track, i.e. a track tracking problem. Such problems play a very important role in the research and application of mobile robots. Until now, the research on the trajectory tracking control of the mobile robot is still a hotspot of the research in the field of robotics.
The existing mobile robot does not have good obstacle avoidance capability, and the situation of collision with an obstacle often occurs, so that the application effect of the mobile robot is poor.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a mobile robot and a control circuit thereof, and solves the technical problem that the mobile robot in the prior art is poor in obstacle avoidance capability.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a control circuit for a mobile robot, comprising a kinect sensor, a plurality of distance sensors, an analog-to-digital conversion circuit, a plurality of H-bridge driving circuits and a main control circuit, wherein the kinect sensor and the distance sensors are electrically connected to the analog-to-digital conversion circuit, the analog-to-digital conversion circuit and the H-bridge driving circuits are connected to the main control circuit,
the analog-to-digital conversion circuit is used for converting analog signals acquired by the kinect sensor and the distance sensors into digital signals and outputting the digital signals to the main control circuit;
the main control circuit is used for outputting a driving signal to the H-bridge driving circuit according to a plurality of digital signals;
the H-bridge driving circuits correspond to driving motors of the mobile robot one by one, and the H-bridge driving circuits are used for controlling the driving motors to act according to driving signals output by the main control circuit so as to enable the mobile robot to avoid obstacles.
Preferably, in the control circuit of the mobile robot, the analog-to-digital conversion circuit includes a plurality of first resistors, a plurality of first capacitors, a second resistor, and an analog-to-digital conversion chip, the first resistors correspond to the first capacitors one to one, the kinect sensor and the distance sensors are connected to an analog input interface of the analog-to-digital conversion chip and one end of the first capacitor through the first resistors respectively, the other end of the first capacitor is grounded, the CLK end, the CS end, and the DIN end of the analog-to-digital conversion chip are connected to the main control circuit, the DOUT end of the analog-to-digital conversion chip is connected to one end of the second resistor, and the other end of the second resistor is connected to the main control circuit.
Preferably, in the control circuit of the mobile robot, the main control circuit includes a Propeller chip, a P25 end of the Propeller chip is connected to a CS end of the analog-to-digital conversion chip, a P26 end of the Propeller chip is connected to a DIN end of the analog-to-digital conversion chip and the other end of the second resistor, a P27 end of the Propeller chip is connected to a CLK end of the analog-to-digital conversion chip, and a P19 end to a P21 end and a P22 end to a P24 end of the Propeller chip are respectively connected to the H-bridge driving circuit.
Preferably, in the control circuit of the mobile robot, the Propeller chip is specifically configured to: and acquiring position information and speed information of the mobile robot according to the digital signals, judging whether the robot has collision risk or not according to the position information and the speed information, if so, calculating the rotation speed difference of two driving motors, generating driving signals according to the rotation speed difference, and outputting the driving signals to each H-bridge driving circuit.
Preferably, in the control circuit of the mobile robot, the number of the H-bridge driving circuits is two, and the two H-bridge driving circuits are electrically connected to the left driving motor and the right driving motor, respectively.
Preferably, in the control circuit of the mobile robot, the H-bridge driving circuit includes a second resistor, a third resistor, a fourth resistor and a driving chip, one end of the second resistor, one end of the third resistor and one end of the fourth resistor which are connected to the H-bridge driving circuit with the left driving motor are respectively connected to the P19 end to the P21 end of the Propeller chip, one end of the second resistor, one end of the third resistor and one end of the fourth resistor which are connected to the H-bridge driving circuit with the right driving motor are respectively connected to the P22 end to the P24 end of the Propeller chip, the other end of the second resistor is connected to the INA end of the driving chip, the other end of the third resistor is connected to the PWM end of the driving chip, the other end of the fourth resistor is connected to the INB end of the driving chip, and the OUTA end and the OUTB end of the H-bridge driving circuit are respectively connected to the corresponding driving motors.
Preferably, the control circuit of the mobile robot further comprises a power circuit, and the power circuit is used for supplying power to the kinect sensor, the distance sensors, the analog-to-digital conversion circuit, the H bridge driving circuits and the main control circuit.
Preferably, the control circuit of the mobile robot further comprises a USB-to-serial port circuit, and the USB-to-serial port circuit is used for converting an external USB signal into a serial port signal and outputting the serial port signal to the main control circuit.
Preferably, in the control circuit of the mobile robot, the USB to serial port circuit includes a USB to serial port chip, the USB bdm end and the USB bdp end of the USB to serial port chip are both connected to the USB interface, and the TXD end and the RXD end of the USB to serial port chip are both connected to the main control circuit.
In a second aspect, the present invention also provides a mobile robot comprising a control circuit of the mobile robot as described above.
Compared with the prior art, the mobile robot and the control circuit thereof have the advantages that the plurality of distance sensors are added on the basis of the kinect sensor, so that obstacles can be detected under the condition that the kinect is invisible, and collision is avoided. In addition, signals acquired by the plurality of sensors are subjected to fusion analysis through the main control circuit, three-dimensional vision, image and sound processing of the kinect sensor are integrated, and the kinect sensor is combined with a coding disc carried by a driving wheel on the mobile robot, so that the obstacle avoidance capability of the whole robot is better.
Drawings
Fig. 1 is a block diagram of a control circuit of a mobile robot according to a preferred embodiment of the present invention;
fig. 2 is a schematic diagram of a preferred embodiment of the analog-to-digital conversion circuit in the control circuit of the mobile robot according to the present invention;
fig. 3 is a schematic diagram of a control circuit of the mobile robot according to a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of a preferred embodiment of the H-bridge driving circuit in the control circuit of the mobile robot according to the present invention;
FIG. 5 is a schematic diagram of a preferred embodiment of the 12V power circuit in the control circuit of the mobile robot according to the present invention;
FIG. 6 is a schematic diagram of a preferred embodiment of the 5V power circuit in the control circuit of the mobile robot according to the present invention;
FIG. 7 is a schematic diagram of a preferred embodiment of the 3.3V power circuit in the control circuit of the mobile robot according to the present invention;
FIG. 8 is a schematic diagram of a preferred embodiment of the auxiliary switching power supply circuit in the control circuit of the mobile robot according to the present invention;
fig. 9 is a schematic diagram of a preferred embodiment of the USB to serial port circuit in the control circuit of the mobile robot according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, a control circuit of a mobile robot according to an embodiment of the present invention includes a kinect sensor 1, a plurality of distance sensors 2, an analog-to-digital conversion circuit 3, a plurality of H-bridge driving circuits 4, and a main control circuit 5, where the kinect sensor 1 and the distance sensors 2 are electrically connected to the analog-to-digital conversion circuit 3, and the analog-to-digital conversion circuit 3 and the H-bridge driving circuits 4 are connected to the main control circuit 5.
Specifically, analog-to-digital conversion circuit 3 is used for with after analog signal conversion that kinect sensor 1 and a plurality of distance sensor 2 gathered is digital signal, the output is given master control circuit 5 works as kinect sensor 1 is used for gathering visual signal, can detect out the barrier to avoid bumping, a plurality of distance sensor 2 is used for detecting positional information, and specific quantity is 5, including three infrared sensor and two ultrasonic sensor, under the condition that kinect sensor 1 can not see, each distance sensor 2 can assist kinect sensor 1 to carry out the detection of barrier, thereby further avoid bumping, the signal of collection passes through analog-to-digital conversion circuit 3 carries out the conversion after output extremely handle in the master control circuit 5, thereby can control the robot and carry out accurate obstacle avoidance. The invention has excellent performance in motion and vision, integrates the three-dimensional vision, image and sound processing of a kinect sensor by utilizing a sensor fusion technology, and is combined with an encoding disc carried by a driving wheel on a mobile robot, thereby having more remarkable performance. It also has good expansibility, and is easy to add sensors, accessories and custom plug-ins.
The main control circuit 5 is configured to output a driving signal to the H-bridge driving circuit 4 according to the plurality of digital signals. Specifically, after the analog-to-digital conversion circuit 1 processes signals acquired by each sensor, the main control circuit 5 performs fusion analysis processing on each digital signal output by the analog-to-digital conversion circuit 1, and then outputs a driving signal to each H-bridge driving circuit 4.
The plurality of H-bridge driving circuits 4 correspond to driving motors of the mobile robot one by one, and the H-bridge driving circuits 4 are used for controlling the driving motors to act according to driving signals output by the main control circuit 5 so as to enable the mobile robot to avoid obstacles. Because the main control circuit 5 analyzes and processes the signals output by the sensors, the H-bridge driving circuits 4 can accurately avoid the obstacle of the mobile robot by controlling the driving motors to act in a matching manner according to the driving signals.
According to the invention, a plurality of distance sensors are added on the basis of the kinect sensor, so that the detection of the barrier is facilitated under the condition that the kinect is invisible, and the collision is avoided. In addition, through carrying out the fusion analysis to the signal that a plurality of sensors gathered, three-dimensional vision, image and sound processing of integration kinect sensor to and combine with the code disc that the action wheel on the mobile robot took, make whole robot keep away the barrier ability more excellent.
In an embodiment, referring to fig. 2, the analog-to-digital conversion circuit 3 includes a plurality of first resistors R1, a plurality of first capacitors C1, a second resistor R2, and an analog-to-digital conversion chip U1, the first resistors R1 and the first capacitors C1 are in one-to-one correspondence, the kinect sensor 1 and the plurality of distance sensors 2 are respectively connected to an analog input interface of the analog-to-digital conversion chip U1 and one end of the first capacitors C1 through a first resistor R1, the other end of the first capacitors C1 is grounded, a CLK end, a CS end, and a DIN end of the analog-to-digital conversion chip U1 are all connected to the main control circuit 5, a DOUT end of the analog-to-digital conversion chip U1 is connected to one end of the second resistor R2, and the other end of the second resistor R2 is connected to the main control circuit 5.
Specifically, signals acquired by each sensor pass through the first resistor R1 and are output to the analog input interface of the analog-to-digital conversion chip U1, and after analog-to-digital conversion is performed on each signal by the analog-to-digital conversion chip U1, the signal is output to the main control circuit through the DOUT port of the analog-to-digital conversion chip U1. The DIN port of the analog-to-digital conversion chip U1 is used for receiving a control signal sent by the master control circuit, so that the analog-to-digital conversion chip U1 works according to the control signal. In a preferred embodiment, the model of the analog-to-digital conversion chip U1 is MCP3008, which has stable performance and fast processing speed, and of course, in other embodiments, the analog-to-digital conversion chip U1 may also be a chip of another model, which is not limited in the present invention.
In a preferred embodiment, referring to fig. 3, the main control circuit 5 includes a Propeller chip U2, a P25 terminal of the Propeller chip U2 is connected to the CS terminal of the analog-to-digital conversion chip U1, a P26 terminal of the Propeller chip U2 is connected to the DIN terminal of the analog-to-digital conversion chip U1 and the other terminal of the second resistor R2, a P27 terminal of the Propeller chip U2 is connected to the CLK terminal of the analog-to-digital conversion chip U1, and a P19 terminal to a P21 terminal and a P22 terminal to a P24 terminal of the Propeller chip U2 are respectively connected to the H-bridge driving circuit 4.
Specifically, the Propeller chip U2 adopts a Propeller P8X32A single-chip microcomputer control board, eight 32-bit cores of the Propeller chip U2 provide incredible force and flexibility, and have accurate computing capacity, and can provide accurate driving signals, so that accurate obstacle avoidance is realized.
Preferably, the Propeller chip U2 is specifically configured to: and acquiring position information and speed information of the mobile robot according to the digital signals, judging whether the robot has collision risk or not according to the position information and the speed information, if so, calculating the rotation speed difference of two driving motors, generating driving signals according to the rotation speed difference, and outputting the driving signals to each H-bridge driving circuit.
Particularly, the mobile robot is from the driving motor who takes drive wheel and 12V high torque and take position controller, two drive wheel symmetries are installed in the automobile body both sides, 12V driving motor fixed mounting is in automobile body platform below, two drive wheel symmetries are installed around the automobile body, control circuit fixed mounting is in automobile body lower floor platform central point, 14.4AH high capacity battery fixed mounting is in automobile body lower floor platform, five distance sensor equipartitions are in automobile body lower floor platform the place ahead, kinect sensor fixed mounting is on the metal support on the automobile body platform. The Propelleter chip U2 firstly uses a sensor _ combined () function to obtain distance parameters from each sensor according to a period, then analyzes position information and speed information of the mobile robot and stores the position information and the speed information in a control _ state structural body, then uses a para _ updata () function to obtain current parameters of the robot, judges whether the robot has collision risks, if so, uses an ISMC function to calculate an expected steering angle of the robot, then uses a control function to calculate a rotating speed difference of two driving motors according to the expected steering angle, and then generates driving signals according to the rotating speed difference, so that an obstacle avoidance function can be realized.
In one embodiment, the number of the H-bridge driving circuits 4 is two, and the two H-bridge driving circuits 4 are respectively electrically connected with the left driving motor and the right driving motor to control the precise actions of the two motors, so that the two motors are matched to realize an obstacle avoidance function.
Preferably, referring to fig. 4, the H-bridge driving circuit 4 includes a second resistor R2, a third resistor R3, a fourth resistor R4 and a driving chip U3, one end of a second resistor R2, one end of a third resistor R3 and one end of a fourth resistor R4 which are connected with the left driving motor and are connected with the H bridge driving circuit 4 are respectively connected with the P19 end to the P21 end of the Propelleter chip U2, one end of a second resistor R2, one end of a third resistor R3 and one end of a fourth resistor R4 which are connected with the right drive motor and connected with the H-bridge drive circuit 4 are respectively connected with the P22 end to the P24 end of the Propelleter chip U2, the other end of the second resistor R2 is connected with the INA terminal of the driving chip U3, the other end of the third resistor R3 is connected with the PWM terminal of the driving chip U3, the other end of the fourth resistor R4 is connected to the INB terminal of the driver chip U3, and the OUTA and OUTB terminals of the H-bridge driver circuit 4 are respectively connected to corresponding driving motors.
Specifically, the H-bridge drive circuit 4 is a motor control circuit that controls the forward and reverse rotation of the motor, and by opening and closing a switch, inverts the dc power to ac power of a certain frequency or variable frequency, and drives the ac motor to operate. In this embodiment, the model of the driver chip U3 is VNH2SP30TR-E, which has strong driving capability and stable performance, and of course, in other embodiments, the driver chip U3 may also adopt other models, which is not limited in the present invention.
In a preferred embodiment, the control circuit further comprises a power circuit, and the power circuit is used for supplying power to the kinect sensor, the distance sensors, the analog-to-digital conversion circuit, the H-bridge driving circuits and the main control circuit. The power circuit comprises a 12V power circuit, a 5V power circuit, a 3.3V power circuit, a three-switch auxiliary power circuit and the like, and is used for supplying power to each chip in the control circuit, so that different power supply options are provided for the control circuit, the mobile robot also provides double 12V output, a lead-acid battery with the capacity of 14.4AH is provided, and a 3A intelligent battery charger is provided, so that the mobile robot can use the equipment for 4-7 hours (determined according to the load) if the mobile robot is completely full of the battery charger, and the power requirement of the mobile robot is met. As shown in fig. 5 to 8, they are schematic diagrams of different power circuits, and the specific principle thereof is the prior art, and will not be described herein again.
In a preferred embodiment, please refer to fig. 9, the control circuit further includes a USB to serial port circuit, and the USB to serial port circuit is configured to convert an external USB signal into a serial port signal and output the serial port signal to the main control circuit.
Specifically, the USB to serial port circuit includes a USB to serial port chip U4, the USB bdm end and the USB bdp end of the USB to serial port chip U4 are both connected to a USB interface, the TXD end and the RXD end of the USB to serial port chip U4 are both connected to the main control circuit 5, and are specifically connected to the P30 end and the P31 end of the Propeller chip U2.
Specifically, the USB to serial port chip U4 is configured to convert a USB signal into a serial port signal, and when an external signal is input, the USB to serial port chip U4 converts the serial port signal first, and then outputs the serial port signal to the Propeller chip U2, where the Propeller chip U2 adjusts a parameter according to the input signal. In a specific implementation, the USB to serial port chip U4 may be a chip with a model number FT232RL, and certainly, in other embodiments, the USB to serial port chip U4 may also be a chip with another model number, which is not limited in the present invention.
Based on the control circuit of the mobile robot, the invention further provides a mobile robot correspondingly, which comprises the control circuit of the mobile robot as described in the above embodiments. The control circuit of the mobile robot has the technical effects that the mobile robot also has, and therefore, the details are not repeated herein.
In summary, the mobile robot and the control circuit thereof provided by the invention add a plurality of distance sensors on the basis of the kinect sensor, and help to detect the obstacle under the condition that the kinect is invisible, thereby avoiding collision. In addition, through carrying out the fusion analysis to the signal that a plurality of sensors gathered, three-dimensional vision, image and sound processing of integration kinect sensor to and combine with the code disc that the action wheel on the mobile robot took, make whole robot keep away the barrier ability more excellent.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A control circuit of a mobile robot is characterized by comprising a kinect sensor, a plurality of distance sensors, an analog-to-digital conversion circuit, a plurality of H-bridge driving circuits and a main control circuit, wherein the kinect sensor and the distance sensors are electrically connected with the analog-to-digital conversion circuit, the analog-to-digital conversion circuit and the H-bridge driving circuits are connected with the main control circuit,
the analog-to-digital conversion circuit is used for converting analog signals acquired by the kinect sensor and the distance sensors into digital signals and outputting the digital signals to the main control circuit;
the main control circuit is used for outputting a driving signal to the H-bridge driving circuit according to a plurality of digital signals;
the H-bridge driving circuits correspond to driving motors of the mobile robot one by one, and the H-bridge driving circuits are used for controlling the driving motors to act according to driving signals output by the main control circuit so as to enable the mobile robot to avoid obstacles.
2. The control circuit of claim 1, wherein the analog-to-digital conversion circuit comprises a plurality of first resistors, a plurality of first capacitors, a second resistor, and an analog-to-digital conversion chip, the first resistors correspond to the first capacitors one by one, the kinect sensor and the distance sensors are respectively connected to an analog input interface of the analog-to-digital conversion chip and one end of the first capacitor through the first resistors, the other end of the first capacitor is grounded, the CLK, CS, and DIN terminals of the analog-to-digital conversion chip are all connected to the main control circuit, the DOUT terminal of the analog-to-digital conversion chip is connected to one end of the second resistor, and the other end of the second resistor is connected to the main control circuit.
3. The control circuit of claim 2, wherein the main control circuit comprises a Propeller chip, a P25 terminal of the Propeller chip is connected to the CS terminal of the analog-to-digital conversion chip, a P26 terminal of the Propeller chip is connected to the DIN terminal of the analog-to-digital conversion chip and the other terminal of the second resistor, a P27 terminal of the Propeller chip is connected to the CLK terminal of the analog-to-digital conversion chip, and a P19 terminal to a P21 terminal and a P22 terminal to a P24 terminal of the Propeller chip are respectively connected to the H-bridge driving circuit.
4. The control circuit of a mobile robot according to claim 3, wherein the Propelleter chip is specifically configured to: and acquiring position information and speed information of the mobile robot according to the digital signals, judging whether the robot has collision risk or not according to the position information and the speed information, if so, calculating the rotation speed difference of two driving motors, generating driving signals according to the rotation speed difference, and outputting the driving signals to each H-bridge driving circuit.
5. The control circuit of claim 3, wherein the number of the H-bridge driving circuits is two, and the two H-bridge driving circuits are respectively electrically connected with a left driving motor and a right driving motor.
6. The control circuit of claim 4, wherein the H-bridge driving circuit comprises a second resistor, a third resistor, a fourth resistor, and a driving chip, one end of a second resistor, one end of a third resistor and one end of a fourth resistor which are connected with the left driving motor and are connected with the H-bridge driving circuit are respectively connected with the P19 end to the P21 end of the Propelleter chip, one end of a second resistor, one end of a third resistor and one end of a fourth resistor which are connected with the right driving motor and are connected with the H-bridge driving circuit are respectively connected with the P22 end to the P24 end of the Propelleter chip, the other end of the second resistor is connected with the INA end of the driving chip, the other end of the third resistor is connected with the PWM end of the driving chip, the other end of the fourth resistor is connected with the INB end of the driving chip, and the OUTA end and the OUTB end of the H-bridge driving circuit are respectively connected with the corresponding driving motors.
7. The control circuit of claim 1, further comprising a power circuit for powering the kinect sensor, the plurality of distance sensors, the analog-to-digital conversion circuit, the plurality of H-bridge drive circuits, and the master control circuit.
8. The control circuit of claim 1, further comprising a USB-to-serial port circuit, wherein the USB-to-serial port circuit is configured to convert an external USB signal into a serial port signal and output the serial port signal to the main control circuit.
9. The control circuit of claim 8, wherein the USB to serial port circuit comprises a USB to serial port chip, the USBDM and USBDP of the USB to serial port chip are both connected to a USB interface, and the TXD and RXD of the USB to serial port chip are both connected to the main control circuit.
10. A mobile robot comprising a control circuit of the mobile robot according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110429771.2A CN113189990A (en) | 2021-04-21 | 2021-04-21 | Mobile robot and control circuit thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110429771.2A CN113189990A (en) | 2021-04-21 | 2021-04-21 | Mobile robot and control circuit thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113189990A true CN113189990A (en) | 2021-07-30 |
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