CN203697011U - IO multiplex circuit in robot - Google Patents
IO multiplex circuit in robot Download PDFInfo
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- CN203697011U CN203697011U CN201420006123.1U CN201420006123U CN203697011U CN 203697011 U CN203697011 U CN 203697011U CN 201420006123 U CN201420006123 U CN 201420006123U CN 203697011 U CN203697011 U CN 203697011U
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Abstract
The utility model provides an IO multiplex circuit in a robot. The IO multiplex circuit comprises a single-chip microcomputer, an integrated port and a SP485 interface chip. The integrated port includes a first port connected with a first power source, a second port connected with a second power source, a third port used for being connected with a sensor, a fourth port used for being connected with a switch, a fifth port and a sixth port. The fifth port is in connection with one data interface pin in the SP485 interface chip. The sixth port is in connection with another data interface pin in the SP485 interface chip. The third port is connected with an analogue data interface of the single-chip microcomputer. The fourth port is connected with a digital data interface of the single-chip microcomputer. Data collected by the sensor is transmitted to the single-chip microcomputer via the third port. The single-chip microcomputer outputs low level via the fourth port and transmits control signals to the switch via the fourth port. Only six ports are adopted to be needed input and output ports, such that the number of ports is reduced and the highly efficient layout is achieved.
Description
Technical field
The utility model relates to a kind of IO(input and output) multiplex circuit, particularly the IO multiplex circuit in a kind of robot.
Background technology
In robot control, there are at present three kinds of functions that often use: the first is the collection of analogue data amount, and the second is the data interaction that utilizes 485 communication apparatus, and the third is digital switch control.
Robot will obtain external information conventionally, and these external informations all complete by analog data acquisition.Analog data acquisition is mainly by various analog acquisition sensors, as widely used light sensor, gray-scale sensor, sound transducer and temperature sensor etc., in the time of Interface design, only be required to be external sensor power supply signal, earth signal are provided, then can obtain by the analog data acquisition port of controller the real time data of sensor.As shown in Figure 1, analog data acquisition need to provide three interfaces, be respectively power end 11, the data acquisition end 14 holding 12, be connected with the IO mouth of single-chip microcomputer 13.
Robot, in the time that needs complete some complexity and move accurately, be all generally to complete by steering wheel, and more conventional digital rudder controller is mainly by RS485(serial communication) bus communication.RS485 bus is a kind of widely used universal serial bus, and it adopts balance to send and differential received, has the ability of good inhibition common mode disturbances.RS485 bus adopts half-duplex operation, whenever only has any in transmission state, just can reach the interconnected object of multiple spot like this by a job in the multiple transtation mission circuits of enable signal control, has saved holding wire.Steering wheel is a kind of intelligent, modular power device, formed by gear reduction box, an accurate direct current generator and the control chip packing that possesses communication function, can produce high pulling torque, material is firm, the essential intensity of very big external force and toughness are born in assurance, when work, can feed back internal state, for example internal temperature or input voltage.The communication of steering wheel and controller completes by RS485 bus, and controller sends control command by bus or read status information arrives steering wheel.As shown in Figure 2, RS485 bus design need to be connected change-over circuit between controller and external signal, and external interface needs four pins: VCC(power supply) pin, GND(ground connection) pin, 485D+(data-interface pin), 485D-(data-interface pin).
In the simple motion design of control, mainly use the control device of some similar switches, such as magnet-sensitive switch and touching switch etc., they are generally to complete control by the connection of control VDD-to-VSS end.As shown in Figure 3, digital switch control needs two interfaces: power end 31, the switch control end 33 being connected with the IO mouth of single-chip microcomputer 32, in the design, exactly power end is connected to power supply, export high or low level by Single-chip Controlling switch control end and carry out control figure switch.
In Robot Design field, intelligent controller is the core component of whole robot, coordinates to control whole robot make exercises by it.Robot is to complete by various input/output ports with the external world alternately, with reference to above-mentioned Fig. 1-3, robot all needs a lot of input/output ports gathering analogue data amount, the data interaction that utilizes 485 communication apparatus and control figure switch, so how the input/output port in efficient planning robot is clearly the reaction of Robot Design technical merit height.
Utility model content
The technical problems to be solved in the utility model is a lot of in order to overcome the input/output port being applied in robot in prior art, but do not possess the defect of efficient planning, the IO multiplex circuit in a kind of robot of the input/output port of realizing efficient planning robot is provided.
The utility model solves above-mentioned technical problem by following technical proposals:
The utility model provides the multiplex circuit of the IO in a kind of robot, its feature is, it comprises a single-chip microcomputer, (SP refers to Sipex Corporation for one integrated port and a SP485 interface chip, Xi Baisi company, SP485 interface chip refers to the serial interface chip that Xi Baisi company produces), this integrated port comprises the first port being electrically connected with the first power supply, the second port being electrically connected with second source, for the 3rd port being connected with sensor, for the 4th port being connected with switch, five-port and the 6th port, this five-port is connected with the data-interface pin in this SP485 interface chip, the 6th port is connected with another data-interface pin in this SP485 interface chip, the 3rd port is connected with the analogue data interface of this single-chip microcomputer, the 4th port is connected with the digital data interface of this single-chip microcomputer,
The data that this sensor gathers are by the 3rd port transmission to this single-chip microcomputer, and this single-chip microcomputer is for passing through the 4th port output low level;
This single-chip microcomputer is also for controlling signal to this switch by the 4th port transmission.
Preferably, the STM32 series (STM32 represents 32 8-digit microcontrollers of ARM Cortex-M3 kernel, and wherein ARM is a microprocessor enterprise of Britain, and Cortex-M3 is the core of 32) that the model of this single-chip microcomputer is ST Microelectronics.
Preferably, the voltage of this first power supply is 9V, and the voltage of this second source is 5V.
Preferably, this sensor is light sensor, gray-scale sensor, sound transducer or temperature sensor.This sensor is not limited to above-mentioned these sensors, and those skilled in the art according to actual needs, can also select other sensor.
Preferably, this switch is magnet-sensitive switch or touching switch.This switch is not limited to above-mentioned these switches, and those skilled in the art according to actual needs, can also select other switch.
Meeting on the basis of this area general knowledge, above-mentioned each optimum condition, can be combined, and obtains the each preferred embodiments of the utility model.
Positive progressive effect of the present utility model is:
IO multiplex circuit of the present utility model, can realize the function that gathers analogue data amount, the data interaction that utilizes 485 communication apparatus and control figure switch, compared with prior art, the input/output port that the utility model needs greatly reduces and only needs six ports.The utlity model has and reduce port number and the property planned efficiently.
Accompanying drawing explanation
Fig. 1 is the structure chart of the interface that in prior art, robot collection analogue data needs.
Fig. 2 be prior art middle controller with external signal between the structure chart of the change-over circuit that is connected.
Fig. 3 is the structure chart of the interface that in prior art, digital switch control needs.
Fig. 4 is the structural representation of the IO multiplex circuit of the utility model preferred embodiment.
The specific embodiment
Mode below by embodiment further illustrates the utility model, but therefore the utility model is not limited among described scope of embodiments.
As shown in Figure 4, provide the IO multiplex circuit in a kind of robot in the utility model embodiment, it comprises a single-chip microcomputer 1, an integrated port 2 and a SP485 interface chip 3.
Wherein, the STM32 series that the model of this single-chip microcomputer 1 is ST Microelectronics, this integrated port 2 comprises the first port 21, the second port 22, the 3rd port 23, the 4th port 24, five-port 25 and the 6th port 26, this first port 21 is connected with the voltage source of 9V, this second port 22 is connected with the voltage source of 5V, the 3rd port 23 is connected with sensor (not shown), and the 3rd port 23 is connected with the analogue data interface of this single-chip microcomputer 1, the 4th port 24 is connected with switch (not shown), and the 4th port 24 is connected with the digital data interface of this single-chip microcomputer 1, this five-port 25 is connected with the data-interface pin in this SP485 interface chip 3, the 6th port 26 is connected with another data-interface pin in this SP485 interface chip 3.
And this sensor is light sensor, gray-scale sensor, sound transducer or temperature sensor, this sensor is not limited to above-mentioned these sensors, and those skilled in the art according to actual needs, can also select other sensor.This switch is magnet-sensitive switch or touching switch, and this switch is not limited to above-mentioned these switches, and those skilled in the art according to actual needs, can also select other switch.
Introduced the electrical connection between parts and the parts that this IO multiplex circuit comprises above, lower mask body is introduced the function that signal transmission relation between the parts that this IO multiplex circuit comprises and each parts are realized:
The data of this sensor collection transfer to this single-chip microcomputer 1 by the 3rd port 23, and this single-chip microcomputer 1 is for passing through the 4th port 24 output low levels;
This single-chip microcomputer 1 is also for passing through the 4th port 24 transmission of control signals to this switch.
Illustrate the technical solution of the utility model below, to make those skilled in the art understand better the technical solution of the utility model:
In the time that temperature sensor gathers the temperature in external environment condition, this single-chip microcomputer 1 obtains by the 3rd port 23 temperature collecting, this single-chip microcomputer 1 is by the 4th port 24 output low levels simultaneously, the 4th port 24 is set to hold, in the time that this single-chip microcomputer 1 gathers analogue data, the 4th port 24 is set to output low level, ground end while serving as analog data acquisition, now on this integrated port 2, just no longer need to have special ground end, reached the object of saving the IO mouth that uses this single-chip microcomputer 1.
In the time that this single-chip microcomputer 1 passes through this SP485 interface chip 3 with external component communication, this single-chip microcomputer 1 is by the 4th port 24 output low levels, the 4th port 24 is set to hold, ground end while serving as this SP485 interface chip 3 communication, now on this integrated port 2, just no longer need to have special ground end, reached the object of saving the IO mouth that uses this single-chip microcomputer 1.
In the time that this single-chip microcomputer 1 passes through the 4th port 24 transmission of control signals to digital switch, if the control signal that this single-chip microcomputer 1 transfers to this digital switch by the 4th port 24 is high level, this single-chip microcomputer 1 this digital switch of control is opened, if the control signal that this single-chip microcomputer 1 transfers to this digital switch by the 4th port 24 is low level, this single-chip microcomputer 1 is controlled this digital switch closure.
The utility model can be realized the function that gathers analogue data amount, the data interaction that utilizes 485 communication apparatus and control figure switch, and compared with prior art, the input/output port that the utility model needs greatly reduces and only needs six ports.The utlity model has and reduce port number and the property planned efficiently.
Although more than described the specific embodiment of the present utility model, it will be understood by those of skill in the art that these only illustrate, protection domain of the present utility model is limited by appended claims.Those skilled in the art is not deviating under the prerequisite of principle of the present utility model and essence, can make various changes or modifications to these embodiments, but these changes and modification all fall into protection domain of the present utility model.
Claims (5)
1. the IO multiplex circuit in a robot, it is characterized in that, it comprises a single-chip microcomputer, one integrated port and a SP485 interface chip, this integrated port comprises the first port being electrically connected with the first power supply, the second port being electrically connected with second source, for the 3rd port being connected with sensor, for the 4th port being connected with switch, five-port and the 6th port, this five-port is connected with the data-interface pin in this SP485 interface chip, the 6th port is connected with another data-interface pin in this SP485 interface chip, the 3rd port is connected with the analogue data interface of this single-chip microcomputer, the 4th port is connected with the digital data interface of this single-chip microcomputer,
The data that this sensor gathers are by the 3rd port transmission to this single-chip microcomputer, and this single-chip microcomputer is for passing through the 4th port output low level;
This single-chip microcomputer is also for controlling signal to this switch by the 4th port transmission.
2. IO multiplex circuit as claimed in claim 1, is characterized in that, the STM32 series that the model of this single-chip microcomputer is ST Microelectronics.
3. IO multiplex circuit as claimed in claim 1, is characterized in that, the voltage of this first power supply is 9V, and the voltage of this second source is 5V.
4. IO multiplex circuit as claimed in claim 1, is characterized in that, this sensor is light sensor, gray-scale sensor, sound transducer or temperature sensor.
5. the IO multiplex circuit as described in any one in claim 1-4, is characterized in that, this switch is magnet-sensitive switch or touching switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420006123.1U CN203697011U (en) | 2014-01-06 | 2014-01-06 | IO multiplex circuit in robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420006123.1U CN203697011U (en) | 2014-01-06 | 2014-01-06 | IO multiplex circuit in robot |
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| Publication Number | Publication Date |
|---|---|
| CN203697011U true CN203697011U (en) | 2014-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420006123.1U Expired - Fee Related CN203697011U (en) | 2014-01-06 | 2014-01-06 | IO multiplex circuit in robot |
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| CN (1) | CN203697011U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105700552A (en) * | 2016-01-27 | 2016-06-22 | 浙江大学 | A controller for multi-rotor-wing aircraft closed-source flight control |
| CN108508812A (en) * | 2018-05-15 | 2018-09-07 | 广东嘉腾机器人自动化有限公司 | A kind of AGV controllers I/O port multiplexing configuration system and method |
| CN111026225A (en) * | 2019-12-24 | 2020-04-17 | 杭州和利时自动化有限公司 | IO module for multiplexing AO channel and DO channel |
-
2014
- 2014-01-06 CN CN201420006123.1U patent/CN203697011U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105700552A (en) * | 2016-01-27 | 2016-06-22 | 浙江大学 | A controller for multi-rotor-wing aircraft closed-source flight control |
| CN108508812A (en) * | 2018-05-15 | 2018-09-07 | 广东嘉腾机器人自动化有限公司 | A kind of AGV controllers I/O port multiplexing configuration system and method |
| CN108508812B (en) * | 2018-05-15 | 2024-04-09 | 广东嘉腾机器人自动化有限公司 | AGV controller IO port multiplexing configuration system and method thereof |
| CN111026225A (en) * | 2019-12-24 | 2020-04-17 | 杭州和利时自动化有限公司 | IO module for multiplexing AO channel and DO channel |
| CN111026225B (en) * | 2019-12-24 | 2021-05-07 | 杭州和利时自动化有限公司 | IO module for multiplexing AO channel and DO channel |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140709 Termination date: 20210106 |
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| CF01 | Termination of patent right due to non-payment of annual fee |