CN102915034A - Control system of small wheeled robot applied to cable tunnels - Google Patents
Control system of small wheeled robot applied to cable tunnels Download PDFInfo
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- CN102915034A CN102915034A CN201210380385XA CN201210380385A CN102915034A CN 102915034 A CN102915034 A CN 102915034A CN 201210380385X A CN201210380385X A CN 201210380385XA CN 201210380385 A CN201210380385 A CN 201210380385A CN 102915034 A CN102915034 A CN 102915034A
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- control system
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- wheeled robot
- module
- main control
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Abstract
The invention discloses a control system of a small wheeled robot applied to cable tunnels. The control system comprises a main control chip STM 32F103RB, a power supply chip REG1117-3.3, an RS485 interface driver chip SP485, two line buffer chips 74HC244, two motor drive chips ULN2803, a 5v-9v (volt) battery pack, four motor wiring connectors HT5.08-5P, a communication wiring connector HT5.08-2P, and a PCB printed circuit board connecting the above elements together. The control system can be applied to various polling and detecting robots using stepper motors to drive and standardize an electronic control module.
Description
Technical field
The invention relates to the Robotics field, is specifically related to a kind of control system that is applied to the minitype wheeled robot of cable tunnel.
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Background technology
By subterranean tunnel inner cable supply electric energy widespread use in existing productive life, but cable use in unavoidable the appearance cause fire in the tunnel because of heating, and cable self is aging and the tunnel internal water accumulation also has a strong impact on the normal power supply function of cable; Because of the effect of the limited and interior gas of tunnel space, temperature and smog, there is unsafe factor in manual inspection, the multiple robot that the electrical network tunnel is patrolled and examined, surveyed therefore occurred.
Summary of the invention
The invention technical matters to be solved provides a kind of control system of using in the stepper motor driven various robots that patrol and examine, survey that is applied in.
The invention is adopted following technical scheme for solving its technical matters:
A kind of control system that is applied to the minitype wheeled robot of cable tunnel, comprise main control chip STM32F103RB, power supply chip REG1117-3.3, RS485 interface driver chip SP485, two circuit buffer chip 74HC244, two motor drive ic ULN2803,5V ~ 9V electric battery, four motor wiring connector HT5.08-5P, communication connection connector HT5.08-2P, and the PCB printed circuit board (PCB) that above element is linked together.
Further, also comprise the function expanding module that is connected with main control chip STM32F103RB I/O mouth.
Further, described function expanding module comprises image capture module, temperature sense module and radio receiving transmitting module.
Because adopt technique scheme, the invention possesses following beneficial effect:
1, this control system can be arranged on and use in the stepper motor driven various robots that patrol and examine, survey, and makes the electronic control module standardization.
2, each element adopts integrated circuit, good stability and volume little.
Description of drawings
Fig. 1 is the schematic diagram of the invention control system;
Embodiment
Such as Fig. 1, the input end of power supply chip REG1117-3.3 and common port connect respectively positive source and the negative pole of 5V ~ 9V electric battery; The positive source of main control chip STM32F103RB and negative pole connect respectively output terminal and the common port of power supply chip REG1117-3.3, are powered to main control chip STM32F103RB by the 3.3V of REG1117-3.3 input; The TX of the UART1 interface of main control chip STM32F103RB and RX connect respectively DI and the RO of RS485 interface driver chip SP485, and the DE of RS485 interface driver chip SP485, RE link together and then be connected with the PA8 of main control chip STM32F103RB; PA0 ~ PA7 of main control chip STM32F103RB connects respectively I0 ~ I7 of first circuit buffer chip 74HC244, Q0 ~ Q7 of first circuit buffer chip 74HC244 connects respectively I0 ~ I7 of first motor drive ic ULN2803, Q0 ~ Q3 of first motor drive ic ULN2803, Q4 ~ Q7 connects respectively first, P0 ~ P3 of two connector HT5.08-5P, the P4 of the first, two connector HT5.08-5P connects the positive pole of electric battery; PB8 ~ PB15 of main control chip STM32F103RB connects respectively I0 ~ I7 of second circuit buffer chip 74HC244, Q0 ~ Q7 of second circuit buffer chip 74HC244 connects respectively I0 ~ I7 of second motor drive ic ULN2803, Q0 ~ Q3 of second motor drive ic ULN2803, Q4 ~ Q7 connects respectively the 3rd, P0 ~ P3 of four connector HT5.08-5P, the P4 of the three, four connector HT5.08-5P connects the positive pole of electric battery.
In some cases, can not adopt the mode of electric battery, the mode that adopts external circuit directly to power.
This control system can be arranged on to be used in the stepper motor driven various robots that patrol and examine, survey, and makes the standardization of electronic control module mark; And because pulse duty factor and the cycle of main control chip STM32F103RB can the control step electric machine rotation time, thereby can control the torque and rotational speed of motor, robot is better advanced according to landform in the tunnel.
If increase functional part in the robot, this function expanding module is by being connected and can realizing with main control chip STM32F103RB I/O mouth, and the subsequent expansion ability is strong.
Claims (3)
1. control system that is applied to the minitype wheeled robot of cable tunnel, it is characterized in that: comprise main control chip STM32F103RB, power supply chip REG1117-3.3, RS485 interface driver chip SP485, two circuit buffer chip 74HC244, two motor drive ic ULN2803,5V ~ 9V electric battery, four motor wiring connector HT5.08-5P, communication connection connector HT5.08-2P, and the PCB printed circuit board (PCB) that above element is linked together.
2. the control system that is applied to the minitype wheeled robot of cable tunnel according to claim 1 is characterized in that: also comprise the function expanding module that is connected with main control chip STM32F103RB I/O mouth.
3. the control system that is applied to the minitype wheeled robot of cable tunnel according to claim 2, it is characterized in that: described function expanding module comprises image capture module, temperature sense module and radio receiving transmitting module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210380385XA CN102915034A (en) | 2012-10-10 | 2012-10-10 | Control system of small wheeled robot applied to cable tunnels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210380385XA CN102915034A (en) | 2012-10-10 | 2012-10-10 | Control system of small wheeled robot applied to cable tunnels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102915034A true CN102915034A (en) | 2013-02-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210380385XA Pending CN102915034A (en) | 2012-10-10 | 2012-10-10 | Control system of small wheeled robot applied to cable tunnels |
Country Status (1)
| Country | Link |
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| CN (1) | CN102915034A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0965417A2 (en) * | 1998-06-19 | 1999-12-22 | Fanuc Ltd | Robot controlling system |
| CN101261512A (en) * | 2008-04-17 | 2008-09-10 | 上海交通大学 | Embedded movement control card based on ARM |
| CN102196601A (en) * | 2011-03-24 | 2011-09-21 | 大连理工大学 | Wireless data transmission device based on WSN (wireless sensor network), GPRS (general packet radio service) and GPS (global position system) |
| CN202103362U (en) * | 2010-12-24 | 2012-01-04 | 河南省电力公司洛阳供电公司 | Intelligent cable tunnel patrol robot |
| CN102430883A (en) * | 2011-11-07 | 2012-05-02 | 柳州高华机械有限公司 | Welding online monitoring system |
-
2012
- 2012-10-10 CN CN201210380385XA patent/CN102915034A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0965417A2 (en) * | 1998-06-19 | 1999-12-22 | Fanuc Ltd | Robot controlling system |
| CN101261512A (en) * | 2008-04-17 | 2008-09-10 | 上海交通大学 | Embedded movement control card based on ARM |
| CN202103362U (en) * | 2010-12-24 | 2012-01-04 | 河南省电力公司洛阳供电公司 | Intelligent cable tunnel patrol robot |
| CN102196601A (en) * | 2011-03-24 | 2011-09-21 | 大连理工大学 | Wireless data transmission device based on WSN (wireless sensor network), GPRS (general packet radio service) and GPS (global position system) |
| CN102430883A (en) * | 2011-11-07 | 2012-05-02 | 柳州高华机械有限公司 | Welding online monitoring system |
Non-Patent Citations (2)
| Title |
|---|
| 姜芸等: "一种小型电缆隧道检测机器人设计", 《华东电力》 * |
| 谢振华: "电缆隧道综合检测机器人控制系统研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130206 |