CN211554697U

CN211554697U - Control circuit of wall-climbing robot

Info

Publication number: CN211554697U
Application number: CN202020265869.XU
Authority: CN
Inventors: 徐涛; 孙秋泉; 陈勇; 李露露; 孙伟
Original assignee: Zhenjiang Jizhi Ship Technology Co ltd; Nanjing Forestry University
Current assignee: Zhenjiang Jizhi Ship Technology Co ltd; Nanjing Forestry University
Priority date: 2020-03-06
Filing date: 2020-03-06
Publication date: 2020-09-22
Anticipated expiration: 2030-03-06

Abstract

The utility model relates to a control circuit of wall climbing robot, the frame both sides are provided with left side driving wheel area and right side driving wheel area respectively, and left step motor is connected with left side driving wheel belt drive, and right step motor is connected with right side driving wheel belt drive, its characterized in that: the control system of the wall climbing robot comprises a handheld terminal control circuit and a vehicle-mounted terminal control circuit, wherein the handheld terminal control circuit comprises a first main control chip, a first 5V-to-3.3V power supply circuit, a 7.4V-to-5V power supply circuit, a first instruction transmission module circuit and a keyboard control module circuit; the vehicle-mounted terminal control circuit comprises a second main control chip, a second 5V-to-3.3V power supply circuit, a 24V-to-5V power supply circuit, a second instruction transmission module circuit, a left stepping motor driving circuit and a right stepping motor driving circuit; the robot is adsorbed on the surface of a steel structure through an electromagnet structure, the motion state and the motion direction of the robot are controlled by the control circuit, and the robot can be remotely controlled.

Description

Control circuit of wall-climbing robot

Technical Field

The utility model belongs to the technical field of the automatic control of robot technique and specifically relates to a control circuit of wall climbing robot that says so.

Background

The port hoisting machinery is used for hoisting and carrying ports, equipment can be safely used, the loading and unloading quality and the transportation safety of cargoes are related, and the port hoisting machinery is an important guarantee of port economic benefits. Therefore, the method is of great importance for crack detection of port crane machinery, and at present, safety detection of the port crane equipment in the service life mainly depends on manual work, so that the labor intensity is high, and safety hazards exist. The wall climbing robot can help people to complete daily inspection work to a certain extent, labor intensity is reduced, meanwhile, risks caused by high-altitude operation can be reduced, and daily inspection efficiency is improved. The existing wall climbing robot generally has the defects that the adsorbability and the flexibility are difficult to unify, the flexibility is influenced by a cable type control mode and the like. Therefore, a robot capable of realizing high-altitude crawling on the surface of a steel hoisting machine and accurately controlling the motion direction and the motion state of the robot through remote control is needed.

Disclosure of Invention

The to-be-solved technical problem of the utility model is to provide a control circuit of wall climbing robot, can be respectively independent control both sides step motor's operating condition, and then control robot's motion state and direction of motion, can also carry out remote control to the robot simultaneously, realize command signal's transmission and receipt through wireless transmission's mode.

In order to solve the technical problem, the utility model discloses a technical scheme does:

the utility model provides a control circuit of wall climbing robot, wall climbing robot include the frame, the frame both sides be provided with left side driving wheel area and right side driving wheel area respectively, left step motor is connected with left side driving wheel belt drive, right step motor is connected with right side driving wheel belt drive, its characterized in that: the control system of the wall climbing robot comprises a handheld terminal control circuit and a vehicle-mounted terminal control circuit, wherein the handheld terminal control circuit comprises a first main control chip, a first 5V-to-3.3V power supply circuit, a 7.4V-to-5V power supply circuit, a first instruction transmission module circuit and a keyboard control module circuit; the vehicle-mounted terminal control circuit comprises a second main control chip, a second 5V-to-3.3V power supply circuit, a 24V-to-5V power supply circuit, a second instruction transmission module circuit, a left stepping motor driving circuit and a right stepping motor driving circuit;

the handheld terminal control circuit is characterized in that a 7.4V-to-5V power supply circuit is used for reducing 7.4V voltage to 5V to provide working voltage for a first main control chip, the first 5V-to-3.3V power supply circuit is used for reducing 5V voltage to 3.3V to supply power for a first instruction transmission module circuit, the first instruction transmission module circuit is used for wirelessly sending out instruction signals, and the keyboard control module circuit is used for inputting control signals into the first main control chip;

the vehicle-mounted terminal control circuit in 24V change 5V supply circuit be used for with 24V voltage drop to 5V for the second main control chip provides operating voltage, second 5V change 3.3V supply circuit be used for with 5V voltage drop to 3.3V for the power supply of second instruction transmission module circuit, second instruction transmission module circuit be used for wireless receiving command signal, left step motor drive circuit be used for controlling the operating condition of left step motor, right step motor drive circuit be used for controlling the operating condition of right step motor.

The wall-climbing robot comprises a frame, synchronizing wheels are arranged on two sides of the front end of the frame and two sides of the rear end of the frame, the two synchronizing wheels are connected with the two synchronizing wheels through synchronous belt transmission, a controller and a battery pack are fixedly arranged in the frame, a camera is fixedly arranged on the top surface of the frame, the two synchronizing wheels on two sides of the front end of the frame are respectively connected with two groups of speed reduction stepping motors through shaft coupling transmission, the speed reduction stepping motors are fixedly connected with the frame through motor supporting frames, a plurality of electromagnets are arranged in the synchronizing belts at equal intervals along the length direction, an electric brush device is arranged at the tail part of the electromagnets, the electromagnets are driven by the synchronous belts to synchronously move together with the electric brush device and drive the electric brush device to slide into the electric brush chute in sequence and then slide out, and when the electric brush device slides into the electric brush chute, the electromagnet is electrified and has magnetic force, when the electric brush device slides out of the electric brush sliding groove, the electromagnet is powered off and the magnetic force disappears, the electric brush sliding groove is fixedly installed on the side wall of the rack through the sliding groove supporting frame, and the two poles of the battery pack are connected with the electric brush sliding groove through a conducting wire.

The first main control chip and the second main control chip both adopt an STC12C5A60S2 control chip, the RST pin of the STC12C5A60S2 control chip is connected with a reset circuit, the XTAL2 pin of the STC12C5A60S2 control chip is connected with a first crystal oscillator circuit, the XTAL1 pin of the STC12C5A60S2 control chip is connected with a second crystal oscillator circuit, the GND pin of the STC12C5A60S2 control chip is grounded, and the VCC pin of the STC12C5A60S2 control chip is connected with a 5V power supply end.

The 7.4V-to-5V power supply circuit comprises an AMS1117-5.0 buck chip, wherein a GND pin of the AMS1117-5.0 buck chip is grounded, an IN pin of the AMS1117-5.0 buck chip is connected with a 7.4V power supply end, an IN pin of the AMS1117-5.0 buck chip is connected with one end of a capacitor C2, the other end of the capacitor C2 is grounded, the 7.4V power supply end is connected with one end of a capacitor C1, the other end of the capacitor C1 is grounded, two OUT pins of the AMS1117-5.0 buck chip are connected with the 5V power supply end after being short-circuited, two OUT pins of the AMS1117-5.0 buck chip are connected with one end of a capacitor C3, the other end of a capacitor C387 2 is grounded, the 5V power supply end is connected with one end.

The first 5V-to-3.3V power supply circuit and the second 5V-to-3.3V power supply circuit respectively comprise an AMS1117-3.3 voltage reduction chip, a GND pin of the AMS1117-3.3 voltage reduction chip is grounded, an IN pin of the AMS1117-3.3 voltage reduction chip is connected with a 5V power supply end, an IN pin of the AMS1117-3.3 voltage reduction chip is connected with one end of a capacitor C6, the other end of the capacitor C6 is grounded, the 5V power supply end is connected with one end of a capacitor C5, the other end of the capacitor C5 is grounded, two OUT pins of the AMS1117-3.3 voltage reduction chip are connected with a 3.3V power supply end after being short-circuited, two OUT pins of the AMS1117-3.3 voltage reduction chip are connected with one end of a capacitor C7, the other end of the capacitor C7 is grounded, the 3.3V power supply.

The 24V-to-5V power supply circuit adopts a DC-DC converter and comprises a B2405LS _1WR2 isolation chip, a Vin pin of the B2405LS _1WR2 chip is connected with the cathode of a diode D19, the anode of a diode D19 is connected with one electrode of 24V _ DC through a switch S0, a GND pin of a B2405LS _1WR2 chip is connected with the other electrode of 24V _ DC through a switch S0, the Vin pin and the GND pin of the B2405LS _1WR2 chip are connected through a capacitor C24, the cathode of the diode D19 is connected with a 24V power supply end, the GND pin of the B2405LS _1WR2 chip is connected with one end of a capacitor C15 through a COM interface, the other end of the capacitor C15 is connected with the 24V power supply end, one end of the capacitor C15 is further connected with one end of a light-emitting diode 13, the other end of the light-emitting diode D13 is connected with one end of a;

the 0V pin of the B2405LS _1WR2 chip is connected with one electrode of 5V _ DC, the + Vo pin of the B2405LS _1WR2 chip is connected with the other electrode of 5V _ DC, the 0V pin of the B2405LS _1WR2 chip is connected with the + Vo pin through a capacitor C25, the 0V pin of the B2405LS _1WR2 chip is grounded, the + Vo pin of the B2405LS _1WR2 chip is connected with a 5V power supply terminal, the 5V power supply terminal is respectively connected with one end of a capacitor C16 and one end of a capacitor C17, the other end of the capacitor C16 and the other end of the capacitor C17 are grounded, the 5V power supply terminal is further connected with one end of a resistor R26, the other end of the resistor R26 is connected with one end of a light emitting diode D14.

The first instruction transmission circuit and the second instruction transmission circuit comprise NRF24L01 chips, and GND pins of the NRF24L01 chips are grounded;

the VCC pin of the NRF24L01 chip is connected with a 3.3V power supply end;

the CE pin of the NRF24L01 chip is connected with the P1.2 pin of the STC12C5A60S2 control chip;

the CS pin of the NRF24L01 chip is connected with the P1.4 pin of the STC12C5A60S2 control chip;

the SCK pin of the NRF24L01 chip is connected with the P1.7 pin of the STC12C5A60S2 control chip;

the MOSI pin of the NRF24L01 chip is connected with the P1.5 pin of the STC12C5A60S2 control chip;

the MISO pin of the NRF24L01 chip is connected with the P1.6 pin of the STC12C5A60S2 control chip;

the IRQ pin of the NRF24L01 chip is connected with the P3.3 pin of the STC12C5A60S2 control chip.

The keyboard control module circuit comprises a key S1, a key S2, a key S3, a key S4 and a key S5,

one end of the key S1 is connected with a P2.1 pin of the STC12C5A60S2 control chip, and the other end is grounded;

one end of the key S2 is connected with a P2.4 pin of the STC12C5A60S2 control chip, and the other end is grounded;

one end of the key S3 is connected with a P2.0 pin of the STC12C5A60S2 control chip, and the other end is grounded;

one end of the key S4 is connected with a P2.3 pin of the STC12C5A60S2 control chip, and the other end is grounded;

one end of the key S5 is connected with a P2.2 pin of the STC12C5A60S2 control chip, and the other end is grounded.

The left stepping motor driving circuit comprises a left stepping motor driver U4 and a left stepping motor M1, and the right stepping motor driving circuit comprises a right stepping motor driver U5 and a right stepping motor M2;

a DIR + pin of the left stepping motor driver U4 is connected with a +5V power supply; the DIR-pin of the left stepping motor driver U4 is connected with an AD0 power supply; a PUL + pin of the left stepping motor driver U4 is connected with a +5V power supply; the PUL-pin of the left stepping motor driver U4 is connected with an AD1 power supply; the A + pin of the left stepping motor driver U4 is connected with the A + end of the left stepping motor M1; the A-pin of the left stepping motor driver U4 is connected with the A-end of a left stepping motor M1; the B + pin of the left stepping motor driver U4 is connected with the B + end of the left stepping motor M1; the B-pin of the left stepping motor driver U4 is connected with the B-end of a left stepping motor M1; the V-pin of the left stepping motor driver U4 is connected with a-24V power supply, and the V + pin of the left stepping motor driver U4 is connected with a +24V power supply;

a DIR + pin of the right stepping motor driver U5 is connected with a +5V power supply; the DIR-pin of the right stepping motor driver U5 is connected with an AD0 power supply; a PUL + pin of the right stepping motor driver U5 is connected with a +5V power supply; the PUL-pin of the right stepping motor driver U5 is connected with an AD1 power supply; the A + pin of the right stepping motor driver U5 is connected with the A + end of the left stepping motor M2; the A-pin of the right stepping motor driver U5 is connected with the A-end of the left stepping motor M2; the B + pin of the right stepping motor driver U5 is connected with the B-end of the left stepping motor M2; the B-pin of the right stepping motor driver U5 is connected with the B + end of the left stepping motor M2; the V-pin of the right stepping motor driver U5 is connected with a-24V power supply, and the V + pin of the right stepping motor driver U5 is connected with the +24V power supply.

The wall climbing robot and the control circuit thereof have the following beneficial effects that: firstly, a battery slides into an electric brush sliding groove through an electric brush device to realize electric conduction of an electromagnet, and the electromagnet is continuously powered in the process that the electric brush device slides in the electric brush sliding groove, so that the electrified electromagnet can be adsorbed on the surface of steel, and the robot can walk at any angle in the high altitude of equipment; further because equidistant a plurality of electro-magnet that is provided with on the hold-in range, along with the rotation of hold-in range, the brush device of electro-magnet slides in the brush spout in proper order and roll-off again, because the length of brush spout is greater than the interval between the two adjacent electro-magnets, consequently, any moment all can have the electro-magnet of being no less than one to be in conductive state, and every side only sets up a brush spout and has guaranteed that only the electro-magnet of one side can be circular telegram at the same moment.

Secondly, the keyboard control module circuit can be to the internal input high of first master control chip, low level signal, the instruction information that first master control chip will prestore sends through first instruction transmission module circuit is outside wireless, second instruction transmission module circuit in the vehicle mounted terminal control circuit can wireless receiving instruction signal, and with instruction signal transmission to the second master control chip in, the second master control chip then can be through the operating condition of received instruction signal control left step motor drive circuit and right step motor drive circuit and then control left step motor and right step motor, and then control the motion state and the direction of motion of robot.

Drawings

Fig. 1 is a schematic structural diagram of the wall-climbing robot of the present invention.

Fig. 2 is the structural schematic diagram of the handheld terminal control circuit in the control circuit of the wall-climbing robot of the present invention.

Fig. 3 is the structural schematic diagram of the vehicle-mounted terminal control circuit in the control circuit of the wall-climbing robot of the present invention.

Fig. 4 is a schematic circuit diagram of a 7.4V to 5V power supply circuit in a control circuit of the wall climbing robot of the present invention.

Fig. 5 is a schematic circuit diagram of a 5V to 3.3V power supply circuit in a control circuit of the wall climbing robot of the present invention.

Fig. 6 is a schematic structural diagram of a stepping motor driving control system in a control circuit of the wall-climbing robot of the present invention.

Fig. 7 is a schematic circuit diagram of a step motor driving circuit in a control circuit of the wall-climbing robot of the present invention.

Fig. 8 is a schematic circuit diagram of a 24V to 5V power supply circuit in a control circuit of the wall climbing robot according to the present invention.

Fig. 9 is a schematic circuit diagram of a command transmission module circuit in a control circuit of a wall-climbing robot according to the present invention.

Fig. 10 is a schematic circuit diagram of a keyboard control module circuit in a control circuit of the wall-climbing robot according to the present invention.

Illustration of the drawings: 1. a synchronizing wheel; 2. a synchronous belt; 3. a frame; 4. a controller; 5. a battery pack; 6. a camera; 7. a coupling; 8. a motor support frame; 9. a deceleration stepping motor; 10. an electric brush chute; 11. a chute support frame; 12. an electric brush device; 13. an electromagnet.

Detailed Description

The invention is further described below with reference to the drawings and specific preferred embodiments.

As shown in fig. 1, fig. 2, fig. 3, a control circuit of wall climbing robot, wall climbing robot include

frame

3, 3 both sides of frame be provided with left side driving wheel area and right side driving wheel area respectively, left step motor is connected with left side driving wheel belt transmission, right step motor is connected with right side driving wheel belt transmission, its characterized in that: the control system of the wall climbing robot comprises a handheld terminal control circuit and a vehicle-mounted terminal control circuit, wherein the handheld terminal control circuit comprises a first main control chip, a first 5V-to-3.3V power supply circuit, a 7.4V-to-5V power supply circuit, a first instruction transmission module circuit and a keyboard control module circuit; the vehicle-mounted terminal control circuit comprises a second main control chip, a second 5V-to-3.3V power supply circuit, a 24V-to-5V power supply circuit, a second instruction transmission module circuit, a left stepping motor driving circuit and a right stepping motor driving circuit;

In the embodiment, the wall climbing robot comprises a frame 3, synchronizing wheels 1 are arranged on two sides of the front end of the frame 3 and two sides of the rear end of the frame 3, the two synchronizing wheels 1 on the same side are in transmission connection through a synchronous belt 2, a controller 4 and a battery pack 5 are fixedly arranged in the frame 3, a camera 6 is fixedly arranged on the top surface of the frame 3, the two synchronizing wheels 1 on two sides of the front end of the frame 3 are respectively in transmission connection with two groups of speed reduction stepping motors 9 through a coupler 7, the speed reduction stepping motors 9 are fixedly connected with the frame 3 through motor support frames 8, a plurality of electromagnets 13 are arranged in the synchronous belt 2 at equal intervals along the length direction, an electric brush device 12 is arranged at the tail part of the electromagnets 13, the electromagnets 13 are driven by the synchronous belt 2 to synchronously move together with the electric brush device 12 and drive the electric brush device 12 to slide into an electric brush sliding groove 10 in sequence and then slide, when the electric brush device 12 slides into the electric brush sliding groove 10, the electromagnet 13 is electrified and has magnetic force, when the electric brush device 12 slides out of the electric brush sliding groove 10, the electromagnet 13 is powered off and the magnetic force disappears, the electric brush sliding groove 10 is fixedly installed on the side wall of the rack 3 through the sliding groove support frame 11, and two electric levels of the battery pack 5 are connected with the electric brush sliding groove 10 through a conducting wire.

The attraction force of the robot is provided by electromagnets 13 respectively installed on the two side timing belts 2. Each electromagnet 13 is provided with two paths of brush devices 12, when the electromagnet 13 contacts the wall surface along with the movement of the synchronous belt 2, the two paths of brush devices 12 carried by the electromagnet 13 respectively enter the brush chutes 10 connected with the positive and negative power supplies, and the electromagnet 13 is electrified and has adsorbability. Similarly, when the electromagnet 13 is about to leave the contact wall surface, the brush device 12 is also separated from the brush chute 10, so that the electromagnet 13 loses magnetism when power is cut off. The electromagnets 13 are uniformly distributed on each synchronous belt 2, and the same number of electromagnets on each side can be ensured to be in contact with the wall surface in the moving process.

In this embodiment, the first main control chip and the second main control chip both use an STC12C5a60S2 control chip, the RST pin of the STC12C5a60S2 control chip is connected to the reset circuit, the XTAL2 pin of the STC12C5a60S2 control chip is connected to the first crystal oscillator circuit, the XTAL1 pin of the STC12C5a60S2 control chip is connected to the second crystal oscillator circuit, the GND pin of the STC12C5a60S2 control chip is grounded, and the VCC pin of the STC12C5a60S2 control chip is connected to the 5V power supply terminal.

IN this embodiment, the 7.4V to 5V power supply circuit includes an AMS1117-5.0 buck chip, a GND pin of the AMS1117-5.0 buck chip is grounded, an IN pin of the AMS1117-5.0 buck chip is connected to a 7.4V power supply terminal, an IN pin of the AMS1117-5.0 buck chip is connected to one end of a capacitor C2, the other end of the capacitor C2 is grounded, the 7.4V power supply terminal is connected to one end of a capacitor C1, the other end of the capacitor C1 is grounded, two OUT pins of the AMS1117-5.0 buck chip are shorted and then connected to the 5V power supply terminal, two OUT pins of the AMS1117-5.0 buck chip are connected to one end of a capacitor C3, the other end of a capacitor C387387 2 is grounded, the 5V power supply terminal is connected to one end of a capacitor C4.

The input power supply is 7.4V, and the voltage is reduced to 5V of the normal working voltage of the singlechip through MS1117 series forward low-voltage-drop voltage-stabilizing chips.

IN this embodiment, the first 5V to 3.3V power supply circuit and the second 5V to 3.3V power supply circuit both include an AMS1117-3.3 buck chip, a GND pin of the AMS1117-3.3 buck chip is grounded, an IN pin of the AMS1117-3.3 buck chip is connected to a 5V power supply terminal, an IN pin of the AMS1117-3.3 buck chip is connected to one end of a capacitor C6, the other end of the capacitor C6 is grounded, the 5V power supply terminal is connected to one end of a capacitor C5, the other end of the capacitor C5 is grounded, two OUT pins of the AMS1117-3.3 buck chip are connected to a 3.3V power supply terminal after being short-circuited, two OUT pins of the AMS1117-3.3 buck chip are connected to one end of a capacitor C7, the other end of the capacitor C7 is grounded, the 3.3V power supply terminal is connected to one end of a capacitor C8.

The input power supply is 5V, and the voltage is reduced to 3.3V of the normal working voltage of the wireless transceiving instruction transmission module circuit through the AMS1117 series forward low-voltage-drop voltage-stabilizing chip.

In this embodiment, a DC-DC converter is adopted in the 24V to 5V power supply circuit, and includes a B2405LS _1WR2 isolation chip, a Vin pin of the B2405LS _1WR2 chip is connected to a negative electrode of a diode D19, a positive electrode of a diode D19 is connected to a first 24V _ DC electrode through a switch S0, a GND pin of a B2405LS _1WR2 chip is connected to another 24V _ DC electrode through a switch S0, a Vin pin of the B2405LS _1WR2 chip is connected to a GND pin through a capacitor C24, a negative electrode of the diode D19 is connected to a 24V power supply terminal, a GND pin of the B2405LS _1WR2 chip is connected to one end of a capacitor C15 through a COM interface, the other end of the capacitor C15 is connected to the 24V power supply terminal, one end of the capacitor C15 is further connected to one end of a light emitting diode 13, the other end of the light emitting diode D13 is connected to one end of a resistor R25;

The input power supply is 24V, and the voltage is reduced to 5V of the safe voltage of the single chip microcomputer through the power isolation module U13.

In this embodiment, the first instruction transmission circuit and the second instruction transmission circuit each include an NRF24L01 chip, and a GND pin of the NRF24L01 chip is grounded;

the VCC pin of the NRF24L01 chip is connected with a 3.3V power supply end;

NRF24L01 carries out data interchange through SPI interface and singlechip, CSN is the enable end of the inside SPI hardware interface of chip, the low level is effective, MOSI is the data input end of SPI interface, MISO is the data output end of SPI interface, IRQ is the interrupt request end, the low level is effective, it links to each other with the outside interrupt 1 of singlechip, all configuration words of NRF24L01 are all defined by the configuration register, the configuration register passes through SPI mouth visit. The data exchange is realized by the hardware connection of the singlechip and the wireless communication module.

In this embodiment, the keyboard control module circuit includes a key S1, a key S2, a key S3, a key S4 and a key S5,

When a key is pressed at S1, S2, S3, S4, S5, the corresponding port is set to low or high, thereby reading the key value.

In this embodiment, the left stepping motor driving circuit includes a left stepping motor driver U4 and a left stepping motor M1, and the right stepping motor driving circuit includes a right stepping motor driver U5 and a right stepping motor M2;

After the left stepping motor driver U4 and the right stepping motor driver U5 are electrified, the main control chip STC12C5A60S2 single chip microcomputer sends signals to the U4 and the U5 through the pin 36, the pin 37, the pin 38 and the pin 39 to control the M1 and the M2 to rotate. Taking the robot as an example, the handheld terminal sends control information to a singlechip U1 of a vehicle-mounted terminal main chip STC12C5A60S2 through an instruction transmission module, the singlechip U1 controls two stepping motor drivers DIR-end and PUL-end through a P0.0 port, a P0.1 port, a P0.2 port and a P0.3 port, the DIR-end and the PUL-end are respectively a direction signal end and a pulse signal end, and the stepping motor drivers U4 and U5 control the stepping motors M1 and M2 to rotate forwards.

Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.

Claims

1. The utility model provides a control circuit of wall climbing robot, wall climbing robot include frame (3), frame (3) both sides be provided with left side driving wheel area and right side driving wheel area respectively, left step motor is connected with left side driving wheel belt drive, right step motor is connected with right side driving wheel belt drive, its characterized in that: the control system of the wall climbing robot comprises a handheld terminal control circuit and a vehicle-mounted terminal control circuit, wherein the handheld terminal control circuit comprises a first main control chip, a first 5V-to-3.3V power supply circuit, a 7.4V-to-5V power supply circuit, a first instruction transmission module circuit and a keyboard control module circuit; the vehicle-mounted terminal control circuit comprises a second main control chip, a second 5V-to-3.3V power supply circuit, a 24V-to-5V power supply circuit, a second instruction transmission module circuit, a left stepping motor driving circuit and a right stepping motor driving circuit;

2. The control circuit of a wall-climbing robot as claimed in claim 1, wherein: the wall climbing robot comprises a frame (3), wherein synchronizing wheels (1) are arranged on the two sides of the front end of the frame (3) and the two sides of the rear end of the frame (3), the two synchronizing wheels (1) on the same side are in transmission connection through a synchronous belt (2), a controller (4) and a battery pack (5) are fixedly arranged inside the frame (3), a camera (6) is fixedly arranged on the top surface of the frame (3), the two synchronizing wheels (1) on the two sides of the front end of the frame (3) are respectively in transmission connection with two groups of speed reduction stepping motors (9) through a shaft coupler (7), the speed reduction stepping motors (9) are fixedly connected with the frame (3) through a motor support frame (8), a plurality of electromagnets (13) are arranged in the synchronous belt (2) at equal intervals along the length direction, and electric brush devices (12) are arranged at the tail parts of the electromagnets (13), electromagnet (13) carry brush device (12) simultaneous movement under the drive of hold-in range (2) to drive brush device (12) and slide out again after sliding in brush spout (10) in order, when brush device (12) slide in brush spout (10), electromagnet (13) circular telegram and have magnetic force, when brush device (12) slide out brush spout (10), electromagnet (13) outage and magnetic force subsides, brush spout (10) through spout support frame (11) fixed mounting at the lateral wall of frame (3), group battery (5) two electric levels be connected through the wire with brush spout (10).

3. The control circuit of a wall-climbing robot as claimed in claim 1, wherein: the first main control chip and the second main control chip both adopt an STC12C5A60S2 control chip, the RST pin of the STC12C5A60S2 control chip is connected with a reset circuit, the XTAL2 pin of the STC12C5A60S2 control chip is connected with a first crystal oscillator circuit, the XTAL1 pin of the STC12C5A60S2 control chip is connected with a second crystal oscillator circuit, the GND pin of the STC12C5A60S2 control chip is grounded, and the VCC pin of the STC12C5A60S2 control chip is connected with a 5V power supply end.

4. The control circuit of a wall-climbing robot as claimed in claim 3, wherein: the 7.4V-to-5V power supply circuit comprises an AMS1117-5.0 buck chip, wherein a GND pin of the AMS1117-5.0 buck chip is grounded, an IN pin of the AMS1117-5.0 buck chip is connected with a 7.4V power supply end, an IN pin of the AMS1117-5.0 buck chip is connected with one end of a capacitor C2, the other end of the capacitor C2 is grounded, the 7.4V power supply end is connected with one end of a capacitor C1, the other end of the capacitor C1 is grounded, two OUT pins of the AMS1117-5.0 buck chip are connected with the 5V power supply end after being short-circuited, two OUT pins of the AMS1117-5.0 buck chip are connected with one end of a capacitor C3, the other end of a capacitor C387 2 is grounded, the 5V power supply end is connected with one end.

5. The control circuit of a wall-climbing robot as claimed in claim 3, wherein: the first 5V-to-3.3V power supply circuit and the second 5V-to-3.3V power supply circuit respectively comprise an AMS1117-3.3 voltage reduction chip, a GND pin of the AMS1117-3.3 voltage reduction chip is grounded, an IN pin of the AMS1117-3.3 voltage reduction chip is connected with a 5V power supply end, an IN pin of the AMS1117-3.3 voltage reduction chip is connected with one end of a capacitor C6, the other end of the capacitor C6 is grounded, the 5V power supply end is connected with one end of a capacitor C5, the other end of the capacitor C5 is grounded, two OUT pins of the AMS1117-3.3 voltage reduction chip are connected with a 3.3V power supply end after being short-circuited, two OUT pins of the AMS1117-3.3 voltage reduction chip are connected with one end of a capacitor C7, the other end of the capacitor C7 is grounded, the 3.3V power supply.

6. The control circuit of a wall-climbing robot as claimed in claim 3, wherein: the 24V-to-5V power supply circuit adopts a DC-DC converter and comprises a B2405LS _1WR2 isolation chip, a Vin pin of the B2405LS _1WR2 chip is connected with the cathode of a diode D19, the anode of a diode D19 is connected with one electrode of 24V _ DC through a switch S0, a GND pin of a B2405LS _1WR2 chip is connected with the other electrode of 24V _ DC through a switch S0, the Vin pin and the GND pin of the B2405LS _1WR2 chip are connected through a capacitor C24, the cathode of the diode D19 is connected with a 24V power supply end, the GND pin of the B2405LS _1WR2 chip is connected with one end of a capacitor C15 through a COM interface, the other end of the capacitor C15 is connected with the 24V power supply end, one end of the capacitor C15 is further connected with one end of a light-emitting diode 13, the other end of the light-emitting diode D13 is connected with one end of a;

7. The control circuit of a wall-climbing robot as claimed in claim 3, wherein: the first instruction transmission circuit and the second instruction transmission circuit comprise NRF24L01 chips, and GND pins of the NRF24L01 chips are grounded;

the VCC pin of the NRF24L01 chip is connected with a 3.3V power supply end;

8. The control circuit of a wall-climbing robot as claimed in claim 3, wherein: the keyboard control module circuit comprises a key S1, a key S2, a key S3, a key S4 and a key S5,

9. The control circuit of a wall-climbing robot as claimed in claim 3, wherein: the left stepping motor driving circuit comprises a left stepping motor driver U4 and a left stepping motor M1, and the right stepping motor driving circuit comprises a right stepping motor driver U5 and a right stepping motor M2;