CN106406372A - Multi-motor controller used for unmanned cleaning vehicle - Google Patents
Multi-motor controller used for unmanned cleaning vehicle Download PDFInfo
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- CN106406372A CN106406372A CN201610244274.4A CN201610244274A CN106406372A CN 106406372 A CN106406372 A CN 106406372A CN 201610244274 A CN201610244274 A CN 201610244274A CN 106406372 A CN106406372 A CN 106406372A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The invention provides a multi-motor controller used for an unmanned cleaning vehicle, including a processing module, a left and right wheel motor driving module, a brush disc and suction pump motor driving module, a left and right wheel brake driving module, and a power supply module. The left and right wheel motor driving module is electrically connected with the processing module and used for driving a left wheel motor and a right wheel motor of the cleaning vehicle. The brush disc and suction pump motor driving module is electrically connected with the processing module and used for driving a brush disc motor and a suction pump motor of the cleaning vehicle. The left and right wheel brake driving module is electrically connected with the processing module, comprises a brake driving circuit and is used for driving left and right wheel brakes. The processing module is used for outputting signals to the brush disc and suction pump motor driving module and the left and right wheel motor driving module, and controlling the normal operation of the cleaning vehicle. The power supply module is electrically connected with the processing module, the left and right wheel motor driving module and the brush disc and suction pump motor driving module and used for supplying power to the processing module, the left and right wheel motor driving module and the brush disc and suction pump motor driving module.
Description
Technical field
The present invention relates to clean robot field, espespecially a kind of multi_motor control for unmanned cleaning vehicle
Device.
Background technology
Pilotless automobile is a kind of intelligent automobile it is also possible to referred to as wheeled mobile robot, relies primarily on
The in-car intelligent driving instrument based on computer system to be realized unmanned.
Pilotless automobile is to perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line is simultaneously controlled
Vehicle processed reaches the intelligent automobile of predeterminated target.It is to perceive vehicle-periphery using onboard sensor,
And according to the obtained road of perception, vehicle location and obstacle information, control steering and the speed of vehicle,
Thus enabling the vehicle to reliably and securely travel on road.Collection automatically controls, architecture, artificial intelligence
Numerous technology such as energy, vision calculating, in one, are that computer science, pattern-recognition and intelligent control technology are high
The product of degree development, is also an important symbol weighing a national research strength and industrial level, in state
Anti- and national economy field has broad application prospects.
Unmanned cleaning vehicle as a kind of new cleaning equipment, complexity for cleaning ambient and unmanned
The security cleaning, such cleaning equipment is equipped with substantial amounts of sensor and safety precautions, for ring
The identification in border and the process of abnormal conditions.But this virtually increased the complexity of bottom layer driving hardware, for
For having the cleaning equipment of multi_motor control, bottom layer driving needs further to be researched and developed.
Content of the invention
The present invention is a kind of multi_motor control device purpose for unmanned cleaning vehicle is in order to avoid unmanned
Drive the complexity of cleaning car multi_motor control, and a kind of many motors control for unmanned cleaning providing
Device processed, can make the control of the motor related device of unmanned cleaning vehicle convenient efficiently.
The technical scheme that the present invention provides is as follows：
A kind of multi_motor control device for unmanned cleaning vehicle, including：
Processing module.
Left and right wheels motor drive module, is electrically connected with described processing module, described left and right wheels motor drive module
Including a Dual-motors Driving circuit, for driving revolver motor and the right wheel motor of cleaning car；
Brush and suction pump motor drive module, are electrically connected with described processing module, described brush suction pump electricity
Machine drive module includes a Dual-motors Driving circuit, for driving brush motor and the suction pump electricity of cleaning car
Machine；
Left and right wheel brake drive module, is electrically connected with described processing module, described left and right wheel brake drive module
Including brake drive circuit, for driving left and right wheel brake；
Described processing module is used for output signal respectively to described brush and suction pump motor drive module, described
Left and right wheels motor drive module；Unmanned cleaning vehicle is controlled to run well；
Power module, respectively with described processor module, described brush and suction pump motor drive module, institute
State the electrical connection of left and right wheels motor drive module, for giving described processor module, described brush and suction respectively
Power pump motor drive module, described left and right wheels motor drive module provide power supply.
In the present case, a kind of multi_motor control device for unmanned cleaning vehicle, it includes：Power circuit,
For managing motor drive module power supply switching, processor circuit, receive and be derived from main frame SPI control signal
And after processing, send drive signal and control drive circuit；Drive circuit, is driven with above-mentioned FGPA and processes electricity
Road be connected, have brush motor-drive circuit, left and right wheels motor-drive circuit, suction pump motor-drive circuit,
Brake drive circuit, absolute encoder drive circuit；Drive module manages circuit, is constantly in power supply shape
State, receives and is derived from multi-motor driving module, the feedback information of electric power management circuit.The utility model design is closed
Reason, layer of structure is clearly demarcated, control safe and reliable efficiently drive parameter can automatically configure, hardware can cutting,
Support driving condition real-time report.The utility model is applied to the various working environments of unmanned cleaning vehicle,
Can in free Configuration Control Unit each component driving circuit control mode, be various unmanned cleaning vehicle
Exploitation provides a great convenience, the cycle of the product development of shortening.
It is further preferred that also including：
Flash module, is electrically connected with described processor module, is used for
Absolute encoder drive module, is electrically connected with described processor module, power module respectively, is used for
It is further preferred that described Dual-motors Driving circuit includes：
One dual H-bridge driving chip and two groups of H bridge transistor switch compositions, wherein every group of H bridge crystal
Pipe switch comprises the Metal-Oxide Semiconductor field-effect transistor of 4 N-channel；Described dual H-bridge drives
The output of two H bridges of chip is electrically connected with described two groups of H bridge transistors switch respectively；
Described two groups of H bridge transistors switch for driving described revolver/right wheel motor or described brush/suction respectively
The signal output of power pump motor.
It is further preferred that
Described dual H-bridge driving chip model DRV8704, the Metal-Oxide Semiconductor field effect of N-channel
Answer model CDS19532 of transistor；Connection between each pin of its chips DRV8704 and device is closed
It is to be：Meeting pin VM is 36V motor power, input AIN1/AIN2 and BIN1/BIN2 of two H bridges
All electrically connect with described processing module, the connection of the output of a H bridge and first group of H bridge transistor switch
Relation is：Motor power connects the first arm the first transistor Q1, the source electrode of the second arm the first transistor Q3, the
One H bridge the first arm the first control signal A1HS connects the grid of the first arm the first transistor Q1, a H bridge
First arm the second control signal A1LS connects the grid of the first arm transistor seconds Q2, H bridge second arm
First control signal A2HS connects the grid of the second arm the first transistor Q3, H bridge second arm second is controlled
Signal A2LS processed connects the grid of the second arm transistor seconds Q4, H bridge the first arm output signal AO1
Connect the source electrode of transistor Q1 and the drain electrode of the first arm transistor seconds Q2 and be connected to the first of the first motor
Output interface S1, H bridge the second arm output signal AO2 connects the source electrode of the second arm the first transistor Q3
Drain electrode with the second arm transistor seconds Q4 is simultaneously connected to the second output interface S1 of the first motor；2nd H
First arm the first control signal B1HS of bridge, first arm the second control signal B1LS, the first arm output signal
BO1, second arm the first control signal B2HS, second arm the second control signal B2LS, the second arm output letter
Number BO2, the first arm the first transistor Q5, first arm the second crystal with second group of H bridge transistor switch
Pipe Q6, the second arm the first transistor Q7, the second arm transistor seconds Q8, are also carried out corresponding connection, and
It is connected to the first output interface S3 of the second motor, the second output interface S4 of the second motor；
A described H bridge, the 2nd H bridge refer to described revolver/right wheel motor or described brush/suction pump electricity respectively
Machine.
Further preferred.
Described brake drive circuit includes the transistor of 2 N-types and 2 diodes；
Transistor model 2N2148 of N-type；
The source electrode of described transistor Q17 is electrically connected with the anode of diode D10, described transistor Q18's
Source electrode is electrically connected with the anode of diode D11；Source electrode and described diode D10 in described transistor Q17
Anode between the first output end is set, for controlling the braking state of revolver, described transistor Q18's
Between the anode of source electrode and described diode D11, the second output end is set, for controlling the braking state of right wheel；
Described diode D10 is connected with 36V power supply respectively with the negative electrode of described D11；Described transistor Q17
Drain electrode with Q18 is electrically connected with GND；It is flat that the grid of described transistor Q17 is used for receives input height
Control closure and the open mode of brake, the grid of described transistor Q18 controls for receives input height is flat
The closure of brake and open mode.
It is further preferred that
Described power circuit includes voltage-dropping power supply circuit and dividing voltage supply circuit；
Described voltage-dropping power supply circuit includes being depressured conversion chip, 3 diodes, 1 inductor；
Described step-down conversion chip model LMR14050；
Described power circuit includes voltage-dropping power supply circuit：Described step-down conversion core
Piece EN is electrically connected with the negative electrode of diode D8, and SW is connected with one end of inductance L4, and inductance L4's is another
One end exports first voltage value；SW is respectively with the negative electrode of diode D6 and diode D7 and connect simultaneously.
It is further preferred that
Described dividing voltage supply circuit includes 2 voltage stabilizing chips；
Model SGM2300 of described voltage stabilizing chip；Described voltage stabilizing chip U9 and voltage stabilizing chip U10
VIN end inputs described first voltage value；The VOUT end output second voltage value of described voltage stabilizing chip U9；
The VOUT end output third voltage value of described voltage stabilizing chip U9.
It is further preferred that
Described absolute encoder drive module includes absolute encoder drive circuit, including the crystal of 1 N-type
Pipe, model 2N214；
The source electrode of described transistor Q19 is electrically connected with the anode of diode D12, in described transistor Q19
Source electrode and the anode of described diode D12 between arrange the 3rd output end；For outputting signals to described volume
Code device, the grid of described transistor Q19 is used for receives input height puts down.
It is further preferred that
The processor circuit of described processing module includes chip EP4CE6F17C8N.
A kind of multi_motor control device for unmanned cleaning vehicle being provided by the present invention, can bring with
Lower at least one beneficial effect：
1. reasonable in design, layer of structure is clearly demarcated, controls safe and reliable efficient, drives parameter can automatically join
Put, hardware can cutting, support driving condition real-time report.The present invention is applied to unmanned cleaning vehicle
Various working environments, can in free Configuration Control Unit each component driving circuit control mode, be
The exploitation of various unmanned cleaning vehicles provides a great convenience, and shortens the cycle of product development.
2. the fpga core running frequency adopting can reach hundreds of million so that this controller can be high
Effect processes and is derived from encoder pulse value, high speed carry out SPI communication information, faster response drives electricity
Road exception and fault.
3. drive circuit adopts new doube bridge motor driver, has excessively stream, excess temperature, short-circuit protection,
Support 8～52V control source, integrated chip SPI interface, electricity just can be built by this IC of two panels
Machine driving, brush Motor drive, suction pump Motor drive, the communication interface in two panels DRV8704
CS0, CS1, SCLK, SDO, SDI are communicated with FPGA, can be configured by FPGA
The output current of these IC, accepts the abnormal information of these IC transmission.
4. brake, absolute encoder is directly integrated in the controller, and brake can respond faster,
Speed is directly calculated by FPGA, and speed calculates more accurately, and it is right directly to be controlled by FPGA
Save task switching, the time of scheduling and CPU interrupt processing than the control in traditional single-chip microcomputer
Time.
Brief description
Below by the way of clearly understandable, preferred embodiment is described with reference to the drawings, to a kind of for unmanned
The above-mentioned characteristic of multi_motor control device, technical characteristic, advantage and its implementation of driving cleaning car are entered
One step explanation.
Fig. 1 is a kind of example structure of multi_motor control device signal that the present invention is used for unmanned cleaning vehicle
Figure；
Fig. 2 is the multi_motor control device another kind example structure signal that the present invention is used for unmanned cleaning vehicle
Figure；
Fig. 3 is the schematic diagram of the left and right wheels Motor drive embodiment of unmanned cleaning vehicle of the present invention；
Fig. 4 is the brush motor of unmanned cleaning vehicle and the schematic diagram of suction pump Motor drive embodiment；
Fig. 5 is that the left and right wheel brake of unmanned cleaning vehicle of the present invention drives embodiment schematic diagram；
Fig. 6 is the multi_motor control device voltage dropping power supply embodiment schematic diagram of unmanned cleaning vehicle of the present invention；
Fig. 7 is the multi_motor control device dividing voltage supply embodiment schematic diagram of unmanned cleaning vehicle of the present invention；
Fig. 8 is the encoder-driven embodiment schematic diagram of unmanned cleaning vehicle of the present invention；
Fig. 9 is the another embodiment schematic diagram of multi_motor control device of unmanned cleaning vehicle of the present invention.
Specific embodiment
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, will compare attached below
The specific embodiment of the figure explanation present invention.It should be evident that drawings in the following description are only the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings, and obtain other embodiments.
For making simplified form, each in figure only schematically show part related to the present invention, and they are simultaneously
Do not represent it as the practical structures of product.In addition, so that simplified form readily appreciates, in some in figures tool
There is the part of identical structure or function, only symbolically depict one of, or only marked therein
One.Herein, " one " not only represents " only this " it is also possible to represent the situation of " more than one ".
In an a kind of embodiment of the multi_motor control device for unmanned cleaning vehicle of the present invention, reference
Fig. 1, including：
Processing module 1.
Left and right wheels motor drive module 2, is electrically connected with described 1 piece of mould of process, described left and right wheels Motor drive
Module 2 includes a Dual-motors Driving circuit, for driving revolver motor and the right wheel motor of cleaning car；
Brush and suction pump motor drive module 3, are electrically connected with described processing module 1, described brush suction
Pump motor drive module 3 includes a Dual-motors Driving circuit, for driving brush motor and the suction of cleaning car
Power pump motor；
Left and right wheel brake drive module 4, is electrically connected with described processing module 1, and described left and right wheel brake drives
Module 4 includes the drive circuit that brakes, for driving left and right wheel brake；
Described processing module 1 be used for output signal respectively to described brush and suction pump motor drive module 3,
Described left and right wheels motor drive module 4；Unmanned cleaning vehicle is controlled to run well；
Power module 7, respectively with described processor module 1, described brush and suction pump motor drive module 3,
Described left and right wheels motor drive module 2 electrically connects, for giving described processor module 1, described brush respectively
Disk and suction pump motor drive module 3, described left and right wheels motor drive module 2 provide power supply.
Specifically, in the present embodiment with reference to Fig. 1, mainly it is made up of 5 modules, each module has phase
The circuit answered is supported, and power module 7 is the supply module of whole control system, by unmanned
The general supply of cleaning car carries out voltage stabilizing of lowering the temperature, and distributes to the driving chip of related circuit, due to different model
The supply voltage of chip is different；Processor module 1 sends drive signal to left and right wheels motor drive module first
2 drive circuit, makes cleaning car enter normal transport condition, when entering working condition, system detectio
During to barrier, or turn in path, or when needing the corresponding action such as deceleration, processor module 1
Control left and right brake drive module 4 drive circuit send corresponding signal, be cleaning car Reduced Speed Now or
Enter dead ship condition；When entering cleaning section or band cleaning material is detected, controller module 1 sends control
Information processed starts cleaning works, processor module to the drive circuit of brush and suction pump motor drive module 3
1 commands orderly being operated of modules in whole control system.
Preferably, with reference to shown in Fig. 2, also include：
Flash module 6, is electrically connected with described processor 1 module, for the online remote upgrade of FPGA；
Absolute encoder drive module 5, is electrically connected with described processor module 1, power module 7 respectively,
For the collection of the wheel speed of travel, it is easy to unmanned cleaning vehicle.
Specifically, in the present embodiment, a kind of multi_motor control device for unmanned cleaning vehicle, including
Processor circuit, outside flash circuit, left and right wheels motor-drive circuit, brush motor-drive circuit, suction
Power pump motor drive circuit, brake drive circuit, absolute encoder drive circuit, power circuit is whole control
Device processed is powered and external power supply management module, is communicated with external host by SPI, and processor circuit passes through SPI
Bus is connected with outside flash circuit, processor circuit by pwm signal and spi bus respectively with left and right
Turbin generator drive circuit, brush motor-drive circuit, suction pump motor are connected；Processor circuit is driven with brake
Dynamic circuit, absolute encoder drive circuit are connected.
In an a kind of embodiment of the multi_motor control device for unmanned cleaning vehicle of the present invention, in conjunction with
Fig. 2, Fig. 3 and Fig. 4；
Described Dual-motors Driving circuit includes：
One dual H-bridge driving chip and two groups of H bridge transistor switch compositions, wherein every group of H bridge crystal
Pipe switch comprises the Metal-Oxide Semiconductor field-effect transistor of 4 N-channel；Described dual H-bridge drives
The output of two H bridges of chip is electrically connected with described two groups of H bridge transistors switch respectively；
Described two groups of H bridge transistors switch for driving described revolver/right wheel motor or described brush/suction respectively
The signal output of power pump motor.
Preferably, described dual H-bridge driving chip model DRV8704, the metal-oxide half of N-channel
Model CDS19532 of conductor field-effect transistor；Between each pin of its chips DRV8704 and device
Annexation be：Connect pin VM be motor power, the input AIN1/AIN2 of two H bridges and
BIN1/BIN2 is all electrically connected with described processing module, the output of a H bridge and first group of H bridge transistor
Switch annexation be：Motor power meets the first arm the first transistor Q1, the second arm the first transistor Q3
Source electrode, H bridge the first arm first control signal A1HS connects the grid of the first arm the first transistor Q1
Pole, H bridge the first arm second control signal A1LS connect the grid of the first arm transistor seconds Q2,
One H bridge the second arm the first control signal A2HS connects the grid of the second arm the first transistor Q3, a H bridge
Second arm the second control signal A2LS connects the grid of the second arm transistor seconds Q4, H bridge first arm
Output signal AO1 connects the source electrode of transistor Q1 and the drain electrode of the first arm transistor seconds Q2 and is connected to
First output interface S1 of one motor, H bridge the second arm output signal AO2 connects the second arm first crystal
The drain electrode of the source electrode of pipe Q3 and the second arm transistor seconds Q4 and be connected to the first motor second output connect
Mouth S1；First arm the first control signal B1HS of the 2nd H bridge, first arm the second control signal B1LS,
First arm output signal BO1, second arm the first control signal B2HS, second arm the second control signal B2LS,
Second arm output signal BO2, with the first arm the first transistor Q5 of second group of H bridge transistor switch, the
One arm transistor seconds Q6, the second arm the first transistor Q7, the second arm transistor seconds Q8, it is right to be also carried out
The connection answered, and it is connected to the second output interface S4 of the first output interface S3 of the second motor, the second motor；
A described H bridge, the 2nd H bridge refer to described revolver/right wheel motor or described brush/suction pump electricity respectively
Machine.
With reference to Fig. 3, in this embodiment, the revolver motor of this cleaning car and the driving of right wheel motor
Circuit is by a driving chip and 8 N channel NexFETTMPower metal-oxide-semiconductor field effect
Transistor (MOSFET, model C DS19532) is answered to constitute；Driving chip is DRV8704, and this chip is
Binary channels H bridge PWM gate drivers.
Specifically, in the present embodiment, with reference to Fig. 3, driving chip model DRV8704 in circuit diagram,
It is U1, model CDS19532 of transistor；Between each pin of its chips DRV8704 and device
Annexation be：The power input of 36V meets pin VM, 36V connect transistor Q1, transistor Q3,
Transistor Q5, the source electrode of transistor Q7, AIN1 and AIN2 is electrically connected with described processing module, BIN1
Electrically connect with described processing module with BIN2.A1HS connects the grid of transistor Q1, A1LS connects transistor
The grid of Q2, A2HS connect the grid of Q3, A2LS connects the grid of Q4, and AO1 connects the source of transistor Q1
Pole and the drain electrode of transistor Q2, AO2 connects the source electrode of transistor Q3 and the drain electrode of transistor Q4, in addition,
The drain electrode of the source electrode of transistor Q1 and transistor Q2 is connected to described brush motor output interface S1, transistor
The drain electrode of the source electrode of Q3 and transistor Q4 is connected to described brush motor output interface S2；B1HS connects transistor
Q5 grid, B1LS connect the grid of transistor Q6, B2HS connects the grid of transistor Q7, B2LS connects crystalline substance
The grid of body pipe Q8；BO1 connects the source electrode of transistor Q5 and the drain electrode of transistor Q6, and BO2 connects transistor
The source electrode of Q7 and the drain electrode of Q8, the source electrode of transistor Q6 and the drain electrode of Q7 are connected to described suction pump motor
Output interface S3, the drain electrode of the source electrode of transistor Q7 and transistor Q8 is connected to described suction pump motor output
Interface S4.Transistor Q1, transistor Q2, transistor Q3, transistor Q4 are used for driving described revolver
Motor；Transistor Q5, transistor Q6, transistor Q7, transistor Q8 are used for driving described right wheel motor.
In an a kind of embodiment of the multi_motor control device for unmanned cleaning vehicle of the present invention, reference
Fig. 4, the brush motor of this cleaning car and the drive circuit of suction pump motor are by a driving core
Piece and 8 N channel NexFETTMPower metal oxide semiconductor field-effect transistor (MOSFET,
Model C DS19532) constitute；
It is used for the signal output realizing driving brush motor and suction pump motor in the present embodiment, with reference to Fig. 4,
Driving chip model DRV8704, as U5, model CDS19532 of transistor；Its chips
Annexation between each pin of DRV8704 and device is：The power input of 36V meets pin VM, 36V
Meet transistor Q9, transistor Q11, transistor Q13, the source electrode of transistor Q15, AIN1 and AIN2
Electrically connect with described processing module, BIN1 and BIN2 is electrically connected with described processing module, and A1HS connects crystal
The grid of pipe Q9, A1LS connect the grid of transistor Q10, A2HS meets the grid of transistor Q11, A2LS
Connect the grid of transistor Q12, AO1 meets the source electrode of transistor Q9 and the drain electrode of transistor Q10, AO2
Connect the source electrode of transistor Q11 and the drain electrode of transistor Q12, in addition, the source electrode of transistor Q9 and transistor
The drain electrode of Q10 is connected to described brush motor output interface S5, the source electrode of transistor Q11 and transistor Q12
Drain electrode be connected to described brush motor output interface S6；B1HS connects transistor Q13 grid, B1LS connects crystalline substance
The grid of body pipe Q14, B2HS connect the grid of transistor Q15, B2LS connects the grid of transistor Q16；
BO1 connects the source electrode of transistor Q13 and the drain electrode of transistor Q14, BO2 connect transistor Q15 source electrode and
The drain electrode of transistor Q16, the drain electrode of the source electrode of transistor Q14 and transistor Q15 is connected to described suction pump
Motor output interface S7, the drain electrode of the source electrode of transistor Q15 and transistor Q16 is connected to described suction pump electricity
Machine output interface S8；
Transistor Q9, transistor Q10, transistor Q11, transistor Q12 are used for driving described brush electricity
Machine；Transistor Q13, transistor Q14, transistor Q15, transistor Q16 are used for driving described suction pump
Motor.
Also provide an a kind of embodiment of the multi_motor control device for unmanned cleaning vehicle in the present invention
In, with reference to Fig. 5,
Described brake drive circuit includes the transistor of 2 N-types and 2 diodes；
Transistor model 2N2148 of N-type；
The source electrode of described transistor Q17 is electrically connected with the anode of diode D10, described transistor Q18's
Source electrode is electrically connected with the anode of diode D11；Source electrode and described diode D10 in described transistor Q17
Anode between the first output end is set, for controlling the braking state of revolver, described transistor Q18's
Between the anode of source electrode and described diode D11, the second output end is set, for controlling the braking state of right wheel；
Described diode D10 is connected with 36V power supply respectively with the negative electrode of described D11；Described transistor Q17
Drain electrode with Q18 is electrically connected with GND；It is flat that the grid of described transistor Q17 is used for receives input height
Control closure and the open mode of brake, the grid of described transistor Q18 controls for receives input height is flat
The closure of brake and open mode.
Specifically, in the present embodiment, brake drive circuit is the indispensable system of cleaning car, when running into barrier,
Or when setting cleaning fixed point or sensor detect emergency generation, sensor receives signal,
Through parsing, filter and amplification etc. by signal transmission processe device circuit, processor sends a signal to brake and drives electricity
Road, executes braking commands.
Also provide an a kind of embodiment of the multi_motor control device for unmanned cleaning vehicle in the present invention
In, with reference to Fig. 6,
Preferably, described power circuit includes voltage-dropping power supply circuit and dividing voltage supply circuit；
Described voltage-dropping power supply circuit includes being depressured conversion chip, 3 diodes, 1 inductor；
Described step-down conversion chip model LMR14050；
Described power circuit includes voltage-dropping power supply circuit：Described step-down conversion core
Piece EN is electrically connected with the negative electrode of diode D8, and SW is connected with one end of inductance L4, and inductance L4's is another
One end exports first voltage value；SW is respectively with the negative electrode of diode D6 and diode D7 and connect simultaneously.
Specifically, in the present embodiment, power supply is the multi_motor control device system of whole unmanned cleaning vehicle
The driving source running well；Because, in normal work, each components and parts and chip operating voltage are different,
So supply voltage is taken step-down, stablize through step-down and be supplied to other circuit.There is controller control
The Enable Pin of U4；Electric capacity and decoupling capacitor C36, C37 and C45 after filtering, through voltage-releasing voltage stabilizer
LMR14050 is depressurized to 12V, through simultaneously Zener diode D6, D7, inductance L4 output after filtering
12V-OUT.
LMR14050 device is a 40V, 5A lowering and stabilizing blood pressure with integrated-type high side MOSFET
Device.This device has the wide input voltage range of 4V to 40V.It is applied to all kinds of from industry to automobile answering
Adjusted with the power supply of middle brute supply.This voltage-stablizer quiescent current in the hibernation mode is 40 μ A, non-
Often it is suitable for battery to power class system.And there is the ultralow electric current of 1 μ A in the shutdown mode, can be further
Extend battery.The rearrangeable switch frequency range of this voltage-stablizer is wider, and this makes efficiency or outside unit
Part size can be optimized.Internal loop compensates means user without undertaking design loop compensation assembly
Uninteresting work.And also can be to reduce the outer member number of device to greatest extent.Accurate enable inputs simplification
Voltage-stablizer controls and system power supply sequence.Additionally, the also built-in multiple protection features of this device：Cycle by Cycle electricity
The excessive thermal sensing of the protection of ductility limit system, reply power consumption and Thermal shutdown protection and output over-voltage protection.
In an a kind of embodiment of the multi_motor control device for unmanned cleaning vehicle of the present invention, reference
Fig. 7,
Preferably, described dividing voltage supply circuit includes 2 voltage stabilizing chips；
Model SGM2300 of described voltage stabilizing chip；Described voltage stabilizing chip U9 and voltage stabilizing chip U10
VIN end inputs described first voltage value；The VOUT end output second voltage value of described voltage stabilizing chip U9；
The VOUT end output third voltage value of described voltage stabilizing chip U9.
Specifically, in the present embodiment, because the operating voltage of each chip is different, need to export Fig. 6
As the input voltage of Fig. 7, to drop into different magnitude of voltage one tunnels again be 3.3V to 12V, and a road is 5V；Draw
Enter the 12V-OUT of Fig. 6, be input to two panels SGM2300 chip through 12V-IN, through linear voltage stabilization
Afterwards, export VCC_3.3V, VCC3V3A and VCC-5V respectively, make whole multi_motor control device chips
There is a stable 3.3V and 5V power supply.
In an a kind of embodiment of the multi_motor control device for unmanned cleaning vehicle of the present invention, reference
Fig. 8,
Preferably, described absolute encoder drive module includes absolute encoder drive circuit, including 1 N
The transistor of type, model 2N2148；
The source electrode of described transistor Q19 is electrically connected with the anode of diode D12, in described transistor Q19
Source electrode and the anode of described diode D12 between arrange the 3rd output end；For outputting signals to described volume
Code device, the grid of described transistor Q19 is used for receives input height puts down.
Specifically, AB_encoder_ON connects Q19 grid 1, and Q9 source electrode 2 connects GND, Q19 drain electrode 3
Connect diode D12 positive pole, D12 negative pole meets 5V, and Q19 exports coding through AB_encoder_OUT
Device.Control whether encoder works by the level height of AB_encoder_ON.
Preferably, the processor circuit of described processing module includes chip EP4CE6F17C8N.
Specifically, with reference to Fig. 9, the processor circuit of processing module is the core in the main city of present system, by
Processor controls the transmitting-receiving of the signal of each circuit, so that the normally errorless operating of whole system, works as chance
During to emergency case, timely solved.Drive circuit adopts new doube bridge motor driver, has
Stream, excess temperature, short-circuit protection, are supported 8～52V control source, integrated chip SPI interface, are somebody's turn to do by two panels
IC just can build Motor drive, brush Motor drive, suction pump Motor drive, logical on DRV8704
Letter interface CS0, CS1, SCLK, SDO, SDI are communicated with FPGA, can be configured by FPGA
The output current of these IC, accepts the abnormal information of these IC transmission.
In a kind of multi_motor control device for unmanned cleaning vehicle of the present invention, it includes：Power circuit,
For managing motor drive module power supply switching, processor circuit, receiving from main frame SPI (is serial
The abbreviation of Peripheral Interface (Serial Peripheral Interface).SPI, is a kind of high speed, full duplex,
Synchronous communication bus) control signal after processing, send drive signal and control drive circuit；Drive electricity
At road, with FGPA (Field-Programmable Gate Array, i.e. field programmable gate array) driving
Reason circuit is connected, and has brush motor-drive circuit, left and right wheels motor-drive circuit, suction pump Motor drive electricity
Road, brake drive circuit, absolute encoder drive circuit；Drive module manages circuit, is constantly in power supply
State, receives and is derived from multi-motor driving module, the feedback information of electric power management circuit.The present invention is reasonable in design,
Layer of structure is clearly demarcated, control safe and reliable efficiently drive parameter can automatically configure, hardware can cutting, support
Driving condition real-time report.The present invention is applied to the various working environments of unmanned cleaning vehicle, can freely join
Put the control mode of each component driving circuit in controller, the exploitation for various unmanned cleaning vehicles provides
Great convenience, cycle of the product development of shortening.
It should be noted that above-described embodiment all can independent assortment as needed.The above is only this
Bright preferred embodiment it is noted that for those skilled in the art,
Without departing from the principles of the invention, some improvements and modifications can also be made, these improve and moisten
Decorations also should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of multi_motor control device for unmanned cleaning vehicle is it is characterised in that include：
Processing module,
Left and right wheels motor drive module, is electrically connected with described processing module, described left and right wheels Motor drive mould
Block includes a Dual-motors Driving circuit, for driving revolver motor and the right wheel motor of cleaning car；
Brush and suction pump motor drive module, are electrically connected with described processing module, described brush suction pump
Motor drive module includes a Dual-motors Driving circuit, for driving brush motor and the suction of cleaning car
Pump motor；
Left and right wheel brake drive module, is electrically connected with described processing module, and described left and right wheel brake drives mould
Block includes the drive circuit that brakes, for driving left and right wheel brake；
Described processing module is used for output signal respectively to described brush and suction pump motor drive module, institute
State left and right wheels motor drive module；Unmanned cleaning vehicle is controlled to run well；
Power module, respectively with described processor module, described brush and suction pump motor drive module,
Described left and right wheels motor drive module electrical connection, for giving described processor module, described brush respectively
And suction pump motor drive module, described left and right wheels motor drive module provide power supply.
2. the multi_motor control device for unmanned cleaning vehicle according to claim 1, its feature
It is, also include：
Flash module, is electrically connected with described processor module, for the online remote upgrade of FPGA；
Absolute encoder drive module, is electrically connected with described processor module, power module respectively, is used for
The collection of the wheel speed of travel, is easy to unmanned cleaning vehicle.
3. the multi_motor control device for unmanned cleaning vehicle according to claim 1, its feature
It is：
Described Dual-motors Driving circuit includes：
One dual H-bridge driving chip and two groups of H bridge transistor switch compositions, wherein every group of H bridge crystal
Pipe switch comprises the Metal-Oxide Semiconductor field-effect transistor of 4 N-channel；Described dual H-bridge drives
The output of two H bridges of chip is electrically connected with described two groups of H bridge transistors switch respectively；
Described two groups of H bridge transistors switch for drive respectively described revolver/right wheel motor or described brush/
The signal output of suction pump motor.
4. the multi_motor control device for unmanned cleaning vehicle according to claim 3, its feature
It is：
Described dual H-bridge driving chip model DRV8704, the Metal-Oxide Semiconductor field effect of N-channel
Answer model CDS19532 of transistor；Connection between each pin of its chips DRV8704 and device
Relation is：Connect pin VM be motor service voltage, the input AIN1/AIN2 of two H bridges and
BIN1/BIN2 is all electrically connected with described processing module, the output of a H bridge and first group of H bridge crystal
Pipe switch annexation be：Motor power connects the first arm the first transistor Q1, the second arm the first transistor
The source electrode of Q3, H bridge the first arm first control signal A1HS meets the first arm the first transistor Q1
Grid, H bridge the first arm second control signal A1LS connect the first arm transistor seconds Q2 grid,
First H bridge the second arm the first control signal A2HS meets the grid of the second arm the first transistor Q3, a H
Bridge the second arm the second control signal A2LS connects the grid of the second arm transistor seconds Q4, a H bridge first
Arm output signal AO1 connects the source electrode of transistor Q1 and the drain electrode of the first arm transistor seconds Q2 and is connected to
First output interface S1 of the first motor, H bridge the second arm output signal AO2 connects the second arm first
The drain electrode of the source electrode of transistor Q3 and the second arm transistor seconds Q4 is simultaneously connected to the second defeated of the first motor
Outgoing interface S1；First arm the first control signal B1HS of the 2nd H bridge, first arm the second control signal
B1LS, the first arm output signal BO1, second arm the first control signal B2HS, the second arm second control
Signal B2LS, the second arm output signal BO2, the first arm first with second group of H bridge transistor switch
Transistor Q5, the first arm transistor seconds Q6, the second arm the first transistor Q7, second arm the second crystal
Pipe Q8, be also carried out corresponding connection, and is connected to the first output interface S3 of the second motor, the second motor
Second output interface S4；
A described H bridge, the 2nd H bridge refer to described revolver/right wheel motor or described brush/suction pump respectively
Motor.
5. the multi_motor control device for unmanned cleaning vehicle according to claim 1, its feature
It is：
Described brake drive circuit includes the transistor of 2 N-types and 2 diodes；
Transistor model 2N2148 of N-type；
The source electrode of described transistor Q17 is electrically connected with the anode of diode D10, described transistor Q18's
Source electrode is electrically connected with the anode of diode D11；Source electrode and described diode D10 in described transistor Q17
Anode between the first output end is set, for controlling the braking state of revolver, in described transistor Q18
Source electrode and the anode of described diode D11 between the second output end is set, for controlling the brake of right wheel
State；Described diode D10 is connected with 36V power supply respectively with the negative electrode of described D11；Described crystal
The drain electrode of pipe Q17 and Q18 is electrically connected with GND；The grid of described transistor Q17 is used for receives input
The flat closure controlling brake of height and open mode, the grid of described transistor Q18 is high for receives input
The low flat closure controlling brake and open mode.
6. the multi_motor control device for unmanned cleaning vehicle according to claim 1, its feature
It is：
Described power circuit includes voltage-dropping power supply circuit and dividing voltage supply circuit；
Described voltage-dropping power supply circuit includes being depressured conversion chip, 3 diodes, 1 inductor；
Described step-down conversion chip model LMR14050；
Described power circuit includes voltage-dropping power supply circuit：Described step-down conversion
Chip EN is electrically connected with the negative electrode of diode D8, and SW is connected with one end of inductance IA, inductance L4's
The other end exports first voltage value；SW is respectively with the negative electrode of diode D6 and diode D7 and connect simultaneously.
7. the multi_motor control device for unmanned cleaning vehicle according to claim 6, its feature
It is：
Described dividing voltage supply circuit includes 2 voltage stabilizing chips；
Model SGM2300 of described voltage stabilizing chip；Described voltage stabilizing chip U9 and voltage stabilizing chip U10
VIN end input described first voltage value；The VOUT end output second voltage of described voltage stabilizing chip U9
Value；The VOUT end output third voltage value of described voltage stabilizing chip U9.
8. the multi_motor control device for unmanned cleaning vehicle according to claim 2, its feature
It is：
Described absolute encoder drive module includes absolute encoder drive circuit, including the crystalline substance of 1 N-type
Body pipe, model 2N214；
The source electrode of described transistor Q19 is electrically connected with the anode of diode D12, in described transistor Q19
Source electrode and the anode of described diode D12 between arrange the 3rd output end；Described for outputting signals to
Encoder, the grid of described transistor Q19 is used for receives input height puts down.
9. according to the arbitrary described multi_motor control device for unmanned cleaning vehicle of claim 1-8,
It is characterized in that：
The processor circuit of described processing module includes chip EP4CE6F17C8N.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610244274.4A CN106406372A (en) | 2016-04-13 | 2016-04-13 | Multi-motor controller used for unmanned cleaning vehicle |
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| CN201610244274.4A CN106406372A (en) | 2016-04-13 | 2016-04-13 | Multi-motor controller used for unmanned cleaning vehicle |
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Application publication date: 20170215 |