CN104615136A - Control circuit of tunneling robot - Google Patents
Control circuit of tunneling robot Download PDFInfo
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- CN104615136A CN104615136A CN201510005543.7A CN201510005543A CN104615136A CN 104615136 A CN104615136 A CN 104615136A CN 201510005543 A CN201510005543 A CN 201510005543A CN 104615136 A CN104615136 A CN 104615136A
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Abstract
The invention discloses a control circuit of a tunneling robot. The control circuit comprises an MCU control circuit, an upper computer storing and control circuit, an FPGA movement control circuit, a joint motor driving circuit, a tunneling motor driving circuit, a joint motor, a joint encoder, a tunneling motor, a current detection circuit and a signal processing circuit; the MCU control circuit is connected with the upper computer storing and control circuit, the FPGA movement control circuit, the tunneling motor driving circuit and the signal processing circuit; the FPGA movement control circuit is also connected with the joint encoder and the joint motor driving circuit; the current detection circuit is connected with the joint motor driving circuit, the tunneling motor driving circuit and the signal processing circuit; the joint motor and the tunneling motor are respectively connected with the corresponding driving circuits. With the adoption of the control circuit, each motor of the robot can be controlled to independently move to detect the current on real time; the instant information storing function is provided; the semi-autonomous control can be achieved; therefore, the working efficiency, stability and safety of the robot can be improved.
Description
technical field:
The present invention relates to a kind of control circuit, particularly relating to a kind of control circuit for tunneling formula robot.
background technology:
Driving formula robot is mainly used in the fields such as exploration, mining, and it according to specific job task requirement, by modes such as cutting, creep into, take, can realize the function such as digging, anchoring.Due to the working environment that complexity is special, most of driving formula robot all needs manual operation, there is very large potential safety hazard; Once operated by personnel is improper, just likely the stability of robot work and accuracy is caused sharply to reduce.Meanwhile, when robot breaks down, existing most of control circuit all lacks necessary safeguard protection and state memory function, and so not only likely cause robot to damage, but also require that staff has to again operate, efficiency is lower.
summary of the invention:
The invention provides a kind of driving formula robot control circuit; this circuit supports half autonomous type mode of operation, can realize controlling the independence of the multiple motor of robot, and simultaneously it has the function that current protection and data store immediately; stability is better, and work efficiency is higher.
To achieve these goals, technical solution of the present invention is as follows:
A kind of driving formula robot control circuit, is characterized in that: comprise MCU control circuit, host computer storage and control circuit, FPGA motion control circuit, joint motor driving circuit, tunnel motor-drive circuit, current detection circuit, signal processing circuit, joint motor, joint encoders and driving motor; Described MCU control circuit is main control circuit, stores respectively and control circuit and the two-way communication of FPGA motion control circuit are connected with described host computer; Described FPGA motion control circuit is connected with joint encoders with described joint motor driving circuit, reads joint encoders signal and sends driving pulse to joint drive circuit; Described joint motor driving circuit is connected with described joint motor, controls joint motor work; The input end of described driving motor-drive circuit is connected with described MCU control circuit, and receive drive singal, its output terminal is connected with described driving motor, controls driving machine operation; The input end of described current detection circuit is connected with described driving motor-drive circuit with described joint motor driving circuit respectively, detects the change of drive current in real time; Input end, the output terminal of described signal processing circuit are connected with described current detection circuit, MCU control circuit respectively, the driving current signal obtained are carried out processing and feeding back to MCU control circuit.
As preferably, described FPGA motion control circuit comprises code device signal processing module, driving pulse output module and serial port module for reading and writing, described code device signal processing module processes joint encoders signal, send data to described MCU control circuit by described serial port module for reading and writing again, the described serial port module for reading and writing steering order that also the described MCU control circuit of responsible reception is sent exports described driving pulse to control described driving pulse output module.
As preferably, described signal processing circuit comprises signal amplification circuit, A/D convertor circuit and photoelectric isolating circuit, the driving current signal that described current detection circuit obtains by described signal amplification circuit is amplified, improve resolution, described A/D convertor circuit converts the simulating signal after amplification to digital signal, eventually passes described photoelectric isolating circuit and passes to described MCU control circuit.
Driving formula robot control circuit of the present invention take MCU control circuit as core, specifies corresponding running parameter by host computer storage and control circuit, in the course of the work without the need to staff's ongoing operation, can realize half autonomous type and control.Simultaneously, this control circuit can also be monitored in real time each movable joint motor of robot and driving motor and store current duty, comprise the positional information in control model and each joint, thus effective improve machine task efficiency and its job stability and security.
accompanying drawing illustrates:
Fig. 1 is that the present invention tunnels formula robot operating diagram.
Fig. 2 is control circuit theory diagram of the present invention.
Fig. 3 is the theory diagram of FPGA motion control circuit described in control circuit of the present invention.
Fig. 4 is signal processing circuit theory diagram described in control circuit of the present invention.
embodiment:
A kind of fundamental diagram tunneling formula robot control circuit of the present invention is distinguished as shown in Figure 1 and Figure 2, comprises MCU control circuit, host computer storage and control circuit, FPGA motion control circuit, current detection circuit, signal processing circuit, joint motor driving circuit, tunnels motor-drive circuit, joint motor, joint encoders and driving motor.Wherein, MCU control circuit is main control circuit, the each joint motions of joint motor primary responsibility control, driving motor primary responsibility completes headwork, described joint encoders adopts incremental encoder, the present embodiment specifically adopts 334 linear light electricity incremental encoders, and each joint motor is connected with this scrambler.
Host computer stores and is connected PC and MCU control circuit respectively with the two ends of control circuit.Operator can set the running parameter (as driving angle, tunnelling footage, driving speed etc.) of robot by PC and send relevant steering order (as started, close), first these parameter informations and command information can be kept in host computer storage and control circuit, MCU control circuit is sent to again by USB interface, meanwhile, the real-time position information of robot can be fed back to host computer storage and control circuit by MCU control circuit.
As shown in Figure 3, FPGA motion control circuit comprises code device signal processing module, driving pulse output module and serial port module for reading and writing, serial port module for reading and writing realizes the two-way communication of FPGA motion control circuit and MCU control circuit, after MCU control circuit receives the steering order that host computer stores and control circuit sends, corresponding steering order is sent (as the stretching instruction in joint to FPGA motion control circuit by this serial port module for reading and writing, shrink instruction, operating instruction, halt instruction etc.); Driving pulse output module connects joint motor driving circuit, and it, according to the steering order received, exports corresponding driving pulse to joint motor driving circuit, thus controls joint motor rotation; Code device signal processing module connects joint encoders, is come rotational angle and the rotation direction of Real-time Obtaining joint motor, then feed back to MCU control circuit by serial port module for reading and writing by process joint encoders signal.
As shown in Figure 4, signal processing circuit comprises signal amplification circuit, A/D convertor circuit and photoelectric isolating circuit.The input end of current detection circuit respectively with joint motor driving circuit with tunnel motor-drive circuit and be connected, the change of real-time detection drive current, and current signal is converted to voltage signal output, its output terminal connection signal amplifying circuit, signal is after amplifying process, carry out analog to digital conversion by A/D convertor circuit again, pass to MCU control circuit finally by photoelectric isolating circuit.
Below introduce the control principle of control circuit of the present invention:
After control circuit starts, MCU control circuit is Open Timer device 1 and timer 2 simultaneously, and the interrupt priority level of timer 1 is less than timer 2.Timer 1 interrupt service routine is responsible for the joint motor actual rotation information being received a FPGA motion control circuit transmission at set intervals by serial ports, and realizes closed-loop control by PID adjustment.When joint motor control machine person joint arrives precalculated position, MCU control circuit exports driving pulse immediately to driving motor-drive circuit, controls driving machine operation.When task completes, system can automatically reset, and waits for next operational order; Timer 2 interrupt service routine can read the current value of each driving circuit once sent by signal processing circuit at set intervals, and judgement process is carried out to these current values, if there is any one current value to exceed the threshold value set, control circuit will be out of service at once.
At every turn out of service, host computer storage and control circuit all can preserve the service data in a moment automatically, obtain the running status in a upper moment whereby.
Start the machine people at every turn, and operator can select whether load store data by PC, and host computer stores and control circuit is responsible for this selection mode to pass to MCU control circuit by USB, determines the duty reworking or continue the last time thus.
Driving formula robot control circuit of the present invention, can the accurately each motor self-movement of control, and can realize, to the real-time detection of each motor drive current, improve the stability of robot.Meanwhile, this control circuit provides information storage function, and after operator determines mission requirements according to actual conditions, robot control circuit can independently complete this task, realizes half autonomous type and controls.
Claims (3)
1. tunnel a formula robot control circuit, it is characterized in that: comprise MCU control circuit, host computer storage and control circuit, FPGA motion control circuit, joint motor driving circuit, tunnel motor-drive circuit, current detection circuit, signal processing circuit, joint motor, joint encoders and driving motor; Described MCU control circuit is main control circuit, stores respectively and control circuit and the two-way communication of FPGA motion control circuit are connected with described host computer; Described FPGA motion control circuit is connected with joint encoders with described joint motor driving circuit, reads joint encoders signal and sends driving pulse to joint drive circuit; Described joint motor driving circuit is connected with described joint motor, controls joint motor work; The input end of described driving motor-drive circuit is connected with described MCU control circuit, and receive drive singal, its output terminal is connected with described driving motor, controls driving machine operation; The input end of described current detection circuit is connected with described driving motor-drive circuit with described joint motor driving circuit respectively, detects the change of drive current in real time; Input end, the output terminal of described signal processing circuit are connected with described current detection circuit, MCU control circuit respectively, the driving current signal obtained are carried out processing and feeding back to MCU control circuit.
2. driving formula robot control circuit according to claim 1, it is characterized in that: described FPGA motion control circuit comprises code device signal processing module, driving pulse output module and serial port module for reading and writing, described code device signal processing module processes joint encoders signal, send data to described MCU control circuit by described serial port module for reading and writing again, the described serial port module for reading and writing steering order that also the described MCU control circuit of responsible reception is sent exports described driving pulse to control described driving pulse output module.
3. driving formula robot control circuit according to claim 1, it is characterized in that: described signal processing circuit comprises signal amplification circuit, A/D convertor circuit and photoelectric isolating circuit, the driving current signal that described current detection circuit obtains by described signal amplification circuit is amplified, improve resolution, described A/D convertor circuit converts the simulating signal after amplification to digital signal, eventually passes described photoelectric isolating circuit and passes to described MCU control circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510005543.7A CN104615136A (en) | 2015-01-07 | 2015-01-07 | Control circuit of tunneling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510005543.7A CN104615136A (en) | 2015-01-07 | 2015-01-07 | Control circuit of tunneling robot |
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| Publication Number | Publication Date |
|---|---|
| CN104615136A true CN104615136A (en) | 2015-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510005543.7A Pending CN104615136A (en) | 2015-01-07 | 2015-01-07 | Control circuit of tunneling robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759763A (en) * | 2016-04-01 | 2016-07-13 | 沈阳东软医疗系统有限公司 | Method and system for controlling multi-leaf collimator |
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| CN1808319A (en) * | 2005-12-13 | 2006-07-26 | 天津大学 | Parallel connection equipment opening type motion control card based on two-stage DSP and control method thereof |
| JP2008183716A (en) * | 2008-05-07 | 2008-08-14 | Fanuc Ltd | Grip-type hand |
| CN103231379A (en) * | 2013-03-22 | 2013-08-07 | 天津理工大学 | Method for controlling position of 2R under-actuated plane flexible mechanical arm |
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2015
- 2015-01-07 CN CN201510005543.7A patent/CN104615136A/en active Pending
Patent Citations (4)
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| US4343515A (en) * | 1978-11-03 | 1982-08-10 | Coal Industry (Patents) Limited | Device for rotating a body |
| CN1808319A (en) * | 2005-12-13 | 2006-07-26 | 天津大学 | Parallel connection equipment opening type motion control card based on two-stage DSP and control method thereof |
| JP2008183716A (en) * | 2008-05-07 | 2008-08-14 | Fanuc Ltd | Grip-type hand |
| CN103231379A (en) * | 2013-03-22 | 2013-08-07 | 天津理工大学 | Method for controlling position of 2R under-actuated plane flexible mechanical arm |
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| 刘站立等: "空间机械臂单关节驱动器的设计", 《制造业自动化》 * |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759763A (en) * | 2016-04-01 | 2016-07-13 | 沈阳东软医疗系统有限公司 | Method and system for controlling multi-leaf collimator |
| CN105759763B (en) * | 2016-04-01 | 2018-05-29 | 沈阳东软医疗系统有限公司 | The control method and system of a kind of multi-leaf optical grating |
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Application publication date: 20150513 |