CN212541063U

CN212541063U - Multifunctional robot development control system with 16-path steering engine expansion control

Info

Publication number: CN212541063U
Application number: CN202021376826.5U
Authority: CN
Inventors: 王慧; 胡世杰
Original assignee: Wuhan Smart Core Technology Development Co ltd
Current assignee: Wuhan Smart Core Technology Development Co ltd
Priority date: 2020-07-14
Filing date: 2020-07-14
Publication date: 2021-02-12
Anticipated expiration: 2030-07-14

Abstract

The utility model relates to a multifunctional robot development control system with 16-way steering engine expansion control, which comprises a PCB board, wherein the PCB board is distributed with a singlechip, a steering engine control module, 16-way PWM interfaces, a power supply circuit, a storage module, a restart module, a gyroscope module, an infrared receiving head and a USB module; the type of the single chip microcomputer is ATmega328P-AU, and the GND end of the single chip microcomputer is connected with the VCC end of the single chip microcomputer, the AVCC end and the AREF end of the single chip microcomputer and connected with the VCC end of the power supply circuit. The utility model discloses a singlechip links PAC9685 chip and realizes 16 extensions of way PWM signal, vacates a large amount of singlechip self resources and is used for extensions such as other sensors, further enriches the function of robot, perfects the performance of robot.

Description

Multifunctional robot development control system with 16-path steering engine expansion control

Technical Field

The utility model relates to a robot controller technical field, specific saying is a multi-functional robot development control system with 16 ways steering wheel extend control.

Background

In the steering engine, which is one type of servo motor, a general steering engine uses a PWM signal as a control signal, and a high-end steering engine can also be controlled by a serial bus signal. The steering engine has accurate rotation angle control and simple control mode, and is widely used in various human-shaped robots, six-foot robots, micro robot arms and other various motion joint structures as power elements.

In the robot teaching field, the steering wheel of PWM signal control can satisfy a large amount of teaching and academic research and be used more extensively because the price/performance ratio is quite high. However, the internal PWM signal resources of the common single chip microcomputer are few, and the multi-path steering engine cannot be directly controlled. Taking a hexapod robot as an example, each foot needs 3 steering engines to complete 3 degrees of freedom of motion, and the hexapod needs 18 steering engines. The small-sized single chip microcomputer cannot directly meet the requirements of a large number of PWM signal ports and other sensors such as a gyroscope module and the like to be used together, so that the resources of the single chip microcomputer are seriously insufficient.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is not enough to above, provide a multi-functional robot development control system with 16 ways steering wheel extend control, the utility model discloses a singlechip IIC communication protocol links PAC9685 chip and realizes 16 ways of PWM signal's extension, vacates a large amount of singlechip self resources and is used for extensions such as other sensors, further enriches the function of robot, perfects the performance of robot.

For solving the technical problem, the utility model discloses a following technical scheme:

the multifunctional robot development control system with 16 paths of steering engine expansion control comprises a PCB (printed Circuit Board), wherein a single chip microcomputer, a steering engine control module, 16 paths of PWM (pulse-Width modulation) interfaces, a power supply circuit, a storage module, a restart module, a gyroscope module, an infrared receiving head and a USB (Universal Serial bus) module are distributed on the PCB;

the model of the single chip microcomputer is ATmega328P-AU, the GND end of the single chip microcomputer is grounded, the PB6 end of the single chip microcomputer is grounded in series with the capacitor C3, the PB7 end of the single chip microcomputer is grounded in series with the capacitor C4, a 20M external crystal oscillator is connected in parallel between the PB6 end and the PB7 end of the single chip microcomputer, and the VCC end, the AVCC end and the AREF end of the single chip microcomputer are connected with the VCC end of the power supply circuit;

the rudder control module is a PAC9685, an A0 end, an A1 end, an A2 end, an A3 end, an A4 end, a VSS end, an EXTCLK end and an A5 end of the rudder control module are grounded, an OE end series resistor R22 of the rudder control module is grounded, an SCL end of the rudder control module is connected with a PC5 end of the singlechip, an SDA end of the rudder control module is connected with a PC4 end of the singlechip, a VDD end of the rudder control module is connected with a VCC end of the power supply circuit, LEDs 0-15 ends of the rudder control module are respectively connected with control ends of 16 paths of PWM interfaces, power supply ends of the 16 paths of PWM interfaces are connected with an MVCC end of the power supply circuit, and a grounding end of the 16 paths of PWM interfaces is grounded;

the storage module is AT24C32, the A0 end, the A1 end, the A2 end, the GND end and the WP end of the storage module are grounded, the VCC end is connected with the VCC end of the power supply circuit, the SCL end is connected with the PC5 end of the single chip microcomputer, and the SDA end is connected with the PC4 end of the single chip microcomputer;

the restarting module comprises a restarting switch, a resistor R3 and a resistor R4, one end of the restarting switch is connected with a RESET end of the single chip microcomputer, the other end of the restarting switch is connected with a resistor R4 in series and is grounded, one end of the resistor R3 is connected with a VCC end of the power supply circuit, and the other end of the resistor R3 is connected with a switch and is connected with a PC6 end of the single chip microcomputer;

the gyroscope module is an MPU6050, and corresponding pins of the gyroscope module are respectively connected to a VCC end and a ground end of the power supply circuit, a PC5 end of the single chip microcomputer, a PC4 end of the single chip microcomputer and a PD2 end of the single chip microcomputer;

the infrared receiving head is VS1838, and corresponding pins of the infrared receiving head are respectively connected with the PD4 end of the single chip microcomputer, the ground end and the VCC end of the power supply circuit;

the USB module comprises a CH340G chip and a USB interface, wherein the GND terminal of the CH340G chip is grounded, the TXD end of the CH340G chip is connected with the PD0 end of the singlechip, the RXD end of the CH340G chip is connected with the PD1 end of the singlechip, the VCC end of the CH340G chip is connected with the VCC end of a power supply circuit, the DTR end of the CH340G chip is connected with the PC6 end of the singlechip after being connected with a capacitor C9 in series, the XI terminal series capacitor C1 of the CH340G chip is grounded, the XO terminal series capacitor C2 of the CH340G chip is grounded, a 20M external crystal oscillator is connected in parallel between the XI end and the XO end of the CH340G chip, the VCC end of the USB interface is connected with the VCC end of the power supply circuit after being connected with a diode D1 in series, the VCC end of the USB interface is connected with a light emitting diode and a resistor R5 in series and then is grounded, the D-end of the USB interface is connected with the UD-end of a CH340G chip, the D + end of the USB interface is connected with the UD + end of the CH340G chip, and the VSS end of the USB interface is grounded.

The utility model discloses use the singlechip to link PAC9685 chip and realize the extension of 16 way PWM signals, vacate a large amount of singlechip self resources and be used for extensions such as other sensors, further richen the function of robot, perfect the performance of robot; the circuit supports the conversion of CH340G USB to TTL downloading circuit, and a computer downloading program can be connected by using a MicroUSB downloading line; the integrated gyroscope module realizes multifunctional motion control; integrating storage modules to satisfy more data storage expansion; the integrated infrared receiving head that has can satisfy infrared remote control's demand.

Furthermore, the power supply circuit comprises a power supply input circuit, a logic power supply circuit and a steering engine power supply circuit, the power supply input circuit comprises a power supply interface, a power supply switch and an electrolytic capacitor C8, one end of the power supply interface is grounded, the other end of the power supply interface is connected with the first end of the power supply switch, the second end of the power supply switch is a VCC end of the power supply circuit, one end of the electrolytic capacitor C8 is connected with the second end of the power supply switch, and the other end of the electrolytic capacitor C8 is grounded;

the logic power supply circuit comprises a voltage stabilizing chip, a capacitor C5, an electrolytic capacitor C6, a resistor R28, a light emitting diode and a Schottky diode D2, wherein the model of the voltage stabilizing chip is 7805, the GND end of the voltage stabilizing chip is grounded, the capacitor C5 and the electrolytic capacitor C6 are connected in parallel between the VOUT end and the GND end of the voltage stabilizing chip, the resistor R28 and the light emitting diode are connected in series between the VOUT end of the voltage stabilizing chip and one end of the electrolytic capacitor C6, and the VOUT end of the voltage stabilizing chip is connected with the VCC end after being connected with the Schottky diode D2 in series;

the steering engine power supply circuit comprises a voltage reduction and voltage stabilization chip, a Schottky diode D3, an electrolytic capacitor C7, an inductor L1, a resistor R27 and a light emitting diode, wherein the type of the voltage reduction and voltage stabilization chip is LM2596, the IN end of the voltage reduction and voltage stabilization chip is connected with the VIN end of the voltage stabilization chip, the GND end and the ON/OFF end of the voltage reduction and voltage stabilization chip are grounded, the Schottky diode D3, the electrolytic capacitor C7, the inductor L1, the resistor R27 and the light emitting diode are connected IN parallel between the OUT end and the ground end of the voltage reduction and voltage stabilization chip, the FB end of the voltage reduction and voltage stabilization chip is connected between the inductor L1 and the resistor R27, and the FB end of the voltage reduction and voltage stabilization chip is the MVCC end of the.

Adopt above-mentioned further beneficial effect: and the logic circuit and the steering engine are separated to realize double-circuit voltage stabilization power supply, so that the system works more stably.

Furthermore, an ultrasonic ranging sensor interface, a 2-path IIC interface, a path of TTL communication interface and an SPI communication interface are also arranged on the PCB;

corresponding pins of the ultrasonic ranging sensor interface are respectively connected with a VCC end of the power supply circuit, a PB1 end of the single chip microcomputer, a PB2 end of the single chip microcomputer and a ground end;

corresponding pins of the 2-path IIC interface are respectively connected with a PC4 end of the single chip microcomputer, a PC5 end of the single chip microcomputer, a VCC end of the power supply circuit and a ground end;

corresponding pins of the TTL communication interface are respectively connected with a VCC end and a ground end of the power supply circuit, a PD0 end of the single chip microcomputer, a PD1 end of the single chip microcomputer and a PC6 end of the single chip microcomputer;

the corresponding pins of the SPI communication interface are respectively connected with a PB4 end of the singlechip, a VCC end of the power supply circuit, a PB5 end of the singlechip, a PB3 end of the singlechip, a PC6 end of the singlechip and a ground end.

Adopt above-mentioned further beneficial effect: the utility model discloses the interface is abundant, can satisfy the motion control demand of various steering wheel structure robots.

Furthermore, the device also comprises a buzzer, one end of the buzzer is connected to the end of the PD5 of the singlechip, and the other end of the buzzer is grounded.

Adopt above-mentioned further beneficial effect: the integrated buzzer is convenient for marking position indication in the debugging process of the control program and meets the playing function of single-tone music.

Further, the PC0 end of the single chip microcomputer is connected with the IN end of the voltage reduction and stabilization chip after being connected with the resistor R24 IN series, and the PC0 end of the single chip microcomputer is connected with the resistor R24 IN series and is grounded.

Adopt above-mentioned further beneficial effect: the steering engine power supply voltage detection function is directly adopted through a singlechip analog quantity voltage.

Furthermore, the PCB is provided with 5 paths of internal AD conversion I/O ports, and the 5 paths of internal AD conversion I/O ports are respectively connected with a PC1 end, a PC2 end, a PC3 end, a PC4 end and a PC5 end of the single chip microcomputer.

Furthermore, 5 pure digital I/O ports are arranged on the PCB, and the 5 pure digital I/O ports are respectively connected with corresponding pins of the PD3 end and the PD6 end of the single chip microcomputer and the ultrasonic ranging sensor interface.

The present invention will be described in detail with reference to the accompanying drawings and examples.

Drawings

Fig. 1 is a front view of the gyroscope module of the present invention;

fig. 2 is a front view of the present invention;

fig. 3 is a rear view of the present invention;

fig. 4 is a schematic circuit diagram of the present invention;

fig. 5 is a schematic circuit diagram of the present invention;

FIG. 6 is a schematic circuit diagram of the split positioner;

fig. 7 is a schematic circuit diagram of the present invention;

fig. 8 is a schematic circuit diagram of the present invention;

fig. 9 is a schematic circuit diagram of the present invention;

fig. 10 is a schematic circuit diagram of the present invention;

fig. 11 is a schematic circuit diagram of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

101. a PCB board; 102. a single chip microcomputer; 103. a steering engine control module; 104. 16 paths of PWM interfaces; 105. A storage module; 106. a gyroscope module; 107. an infrared receiving head; 108. restarting the switch; 109. CH340G chips; 110. a USB interface; 111. a power interface; 112. a power switch; 113. a voltage stabilization chip; 114. a voltage reduction and stabilization chip; 115. an ultrasonic ranging sensor interface; 116. 2 paths of IIC interfaces; 117. one TTL communication interface; 118. an SPI communication interface; 119. 5-path internal AD conversion I/O port; 120. a 5-way pure digital I/O port; 121. a buzzer.

Detailed Description

The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

As shown in fig. 1, 2 and 3, the multifunctional robot development control system with 16-way steering engine expansion control comprises a PCB 101, wherein a single chip microcomputer 102, a steering engine control module 103, a 16-way PWM interface 104, a power supply circuit, a storage module 105, a restart module, a gyroscope module 106, an infrared receiving head 107 and a USB module are distributed on the PCB 101;

the model of the single chip microcomputer 102 is ATmega328P-AU, the GND end of the single chip microcomputer 102 is grounded, the PB6 end of the single chip microcomputer 102 is connected with a capacitor C3 in series and is grounded, the PB7 end of the single chip microcomputer 102 is connected with a capacitor C4 in series and is grounded, a 20M external crystal oscillator is connected between the PB6 end and the PB7 end of the single chip microcomputer 102 in parallel, and the VCC end, the AVCC end and the AREF end of the single chip microcomputer 102 are connected with the VCC end of a power supply circuit;

the rudder control module 103 is a PAC9685, an a0 end, an a1 end, an a2 end, an A3 end, an a4 end, a VSS end, an EXTCLK end and an a5 end of the rudder control module 103 are grounded, an OE end series resistor R22 of the rudder control module 103 is grounded, an SCL end of the rudder control module 103 is connected with a PC5 end of the single chip microcomputer 102, an SDA end of the rudder control module 103 is connected with a PC4 end of the single chip microcomputer 102, a VDD end of the rudder control module 103 is connected with a VCC end of a power supply circuit, LED0-15 ends of the rudder control module 103 are respectively connected with a control end of the 16-way PWM interface 104, power supply ends of the 16-way PWM interface 104 are all connected with an MVCC end of the power supply circuit, and a ground end of the 16-way PWM interface 104 is all grounded;

the storage module 105 is AT24C32, the a0 end, the a1 end, the a2 end, the GND end and the WP end of the storage module 105 are grounded, the VCC end is connected with the VCC end of the power supply circuit, the SCL end is connected with the PC5 end of the single chip microcomputer 102, and the SDA end is connected with the PC4 end of the single chip microcomputer 102;

the restarting module comprises a restarting switch 108, a resistor R3 and a resistor R4, one end of the restarting switch 108 is connected with a RESET end of the singlechip 102, the other end of the restarting switch is connected with a resistor R4 in series and is grounded, one end of the resistor R3 is connected with a VCC end of the power supply circuit, and the other end of the resistor R3 is connected with a PC6 end of the singlechip 102;

the gyroscope module 106 is an MPU6050, and corresponding pins of the gyroscope module 106 are respectively connected to a VCC end and a ground end of the power supply circuit, a PC5 end of the single chip microcomputer 102, a PC4 end of the single chip microcomputer 102 and a PD2 end of the single chip microcomputer 102;

the infrared receiving head 107 is VS1838, and corresponding pins of the infrared receiving head 107 are respectively connected to the PD4 terminal of the single chip microcomputer 102, the ground terminal, and the VCC terminal of the power supply circuit;

the USB module comprises a CH340G chip 109 and a USB interface 110, a GND end of the CH340G chip 109 is grounded, a TXD end of the CH340G chip 109 is connected with a PD0 end of the singlechip 102, a RXD end of the CH340G chip 109 is connected with a PD1 end of the singlechip 102, a VCC end of the CH340G chip 109 is connected with a VCC end of a power supply circuit, a DTR end of the CH340G chip 109 is connected with a PC6 end of the singlechip 102 after being connected with a series capacitor C9, an XI end of the CH340G chip 109 is grounded, an XO end of the CH340G chip 109 is grounded in series, a 20M external crystal oscillator is connected between the XI end and the XO end of the CH340G chip 109 in parallel, a VCC end of the USB interface 110 is connected with a VCC end of the power supply circuit after being connected with a diode D1, a VCC end of the USB interface 110 is connected with a light emitting diode and a resistor R5 in series and then grounded, a D end G of the USB interface 110 is connected with a UD-UD end 340 + UD end of the CH340 chip 109 and the USB interface 109 + UD end G, the VSS terminal of the USB interface 110 is grounded.

As an implementation mode, the power supply circuit comprises a power supply input circuit, a logic power supply circuit and a steering engine power supply circuit, the power supply input circuit comprises a power supply interface 111, a power supply switch 112 and an electrolytic capacitor C8, one end of the power supply interface 111 is grounded, the other end of the power supply interface is connected with the first end of the power supply switch 112, the second end of the power supply switch 112 is a VCC end of the power supply circuit, one end of the electrolytic capacitor C8 is connected with the second end of the power supply switch 112, and the other end of the electrolytic capacitor C8 is grounded;

the logic power supply circuit comprises a voltage stabilizing chip 113, a capacitor C5, an electrolytic capacitor C6, a resistor R28, a light emitting diode and a Schottky diode D2, wherein the model of the voltage stabilizing chip 113 is 7805, the GND end of the voltage stabilizing chip 113 is grounded, the capacitor C5 and the electrolytic capacitor C6 are connected in parallel between the VOUT end and the GND end of the voltage stabilizing chip 113, the resistor R28 and the light emitting diode are connected in series between the VOUT end of the voltage stabilizing chip 113 and one end of the electrolytic capacitor C6, and the VOUT end of the voltage stabilizing chip 113 is connected with the VCC end after being connected with the Schottky diode D2 in series;

the steering engine power supply circuit comprises a voltage reduction and voltage stabilization chip 114, a Schottky diode D3, an electrolytic capacitor C7, an inductor L1, a resistor R27 and a light emitting diode, wherein the type of the voltage reduction and voltage stabilization chip 114 is LM2596, the IN end of the voltage reduction and voltage stabilization chip 114 is connected with the VIN end of the voltage stabilization chip 113, the GND end and the ON/OFF end of the voltage reduction and voltage stabilization chip 114 are grounded, the Schottky diode D3, the electrolytic capacitor C7, the inductor L1, the resistor R27 and the light emitting diode are connected IN parallel between the OUT end and the ground end of the voltage reduction and voltage stabilization chip 114, the FB end of the voltage reduction and voltage stabilization chip 114 is connected between the inductor L1 and the resistor R27, and the FB end of the voltage reduction and voltage stabilization chip 114 is the MVCC end of the.

As an implementation manner, the PCB 101 is further provided with an ultrasonic ranging sensor interface 115, a 2-way IIC interface 116, a way TTL communication interface 117, and an SPI communication interface 118;

corresponding pins of the ultrasonic ranging sensor interface 115 are respectively connected with a VCC end of the power supply circuit, a PB1 end of the singlechip 102, a PB2 end of the singlechip 102 and a ground end;

corresponding pins of the 2-path IIC interface 116 are respectively connected with a PC4 end of the singlechip 102, a PC5 end of the singlechip 102, a VCC end of a power supply circuit and a ground end;

corresponding pins of the TTL communication interface 117 are respectively connected to the VCC terminal and the ground terminal of the power supply circuit, the PD0 terminal of the single chip microcomputer 102, the PD1 terminal of the single chip microcomputer 102, and the PC6 terminal of the single chip microcomputer 102;

the corresponding pins of the SPI communication interface 118 are connected to the PB4 terminal of the single chip microcomputer 102, the VCC terminal of the power supply circuit, the PB5 terminal of the single chip microcomputer 102, the PB3 terminal of the single chip microcomputer 102, the PC6 terminal of the single chip microcomputer 102, and the ground terminal, respectively.

As an implementation manner, the device further comprises a buzzer 121, wherein one end of the buzzer 121 is connected to the PD5 end of the single chip microcomputer 102, and the other end is grounded.

IN one embodiment, the PC0 end of the single chip microcomputer 102 is connected IN series with the resistor R24 and then connected with the IN end of the buck regulator chip 114, and the PC0 end of the single chip microcomputer 102 is connected IN series with the resistor R24 and then connected to the ground.

As an embodiment, the PCB 101 is provided with 5 internal AD conversion I/O ports 119, and the 5 internal AD conversion I/O ports 119 are respectively connected to the PC1, the PC2, the PC3, the PC4 and the PC5 of the single chip microcomputer 102.

As an implementation manner, the PCB 101 is provided with 5 pure digital I/O ports 120, the 5 pure digital I/O ports 120 are respectively connected to a PD3 end and a PD6 end of the single chip microcomputer 102 and corresponding pins of the ultrasonic ranging sensor interface 115, and in this embodiment, the 5 pure digital I/O ports 120 and the ultrasonic ranging sensor interface 115 share three interfaces.

As shown in fig. 4, 5, 6, 7, 8, 9, 10 and 11, the circuit structure of the present invention is provided.

In one embodiment, the PCB board 101 is provided with fixing holes at four corners.

The foregoing is illustrative of the best mode of the invention, and details not described herein are within the common general knowledge of a person of ordinary skill in the art. The protection scope of the present invention is subject to the content of the claims, and any equivalent transformation based on the technical teaching of the present invention is also within the protection scope of the present invention.

Claims

1. The multifunctional robot development control system with 16-path steering engine expansion control is characterized by comprising a PCB (101), wherein a single chip microcomputer (102), a steering engine control module (103), 16-path PWM interfaces (104), a power supply circuit, a storage module (105), a restart module, a gyroscope module (106), an infrared receiving head (107) and a USB module are distributed on the PCB (101);

the type of the single chip microcomputer (102) is ATmega328P-AU, the GND end of the single chip microcomputer (102) is grounded, the PB6 end of the single chip microcomputer (102) is grounded in series with a capacitor C3, the PB7 end of the single chip microcomputer (102) is grounded in series with a capacitor C4, a 20M external crystal oscillator is connected in parallel between the PB6 end and the PB7 end of the single chip microcomputer (102), and the VCC end, the AVCC end and the AREF end of the single chip microcomputer (102) are connected with the VCC end of a power supply circuit;

the rudder control module (103) is a PAC9685, an a0 end, an a1 end, an a2 end, an A3 end, an a4 end, a VSS end, an EXTCLK end and an a5 end of the rudder control module (103) are grounded, an OE end series resistor R22 of the rudder control module (103) is grounded, an SCL end of the rudder control module (103) is connected with a PC5 end of the single chip microcomputer (102), an SDA end of the rudder control module (103) is connected with a PC4 end of the single chip microcomputer (102), a VDD end of the rudder control module (103) is connected with a VCC end of a power supply circuit, LED0-15 ends of the rudder control module (103) are respectively connected with a control end of the 16-way PWM interface (104), power supply ends of the 16-way PWM interface (104) are all connected with an MVCC end of the power supply circuit, and a ground end of the 16-way PWM interface (104) is all grounded;

the storage module (105) is AT24C32, the A0 end, the A1 end, the A2 end, the GND end and the WP end of the storage module (105) are grounded, the VCC end is connected with the VCC end of the power supply circuit, the SCL end is connected with the PC5 end of the single chip microcomputer (102), and the SDA end is connected with the PC4 end of the single chip microcomputer (102);

the restarting module comprises a restarting switch (108), a resistor R3 and a resistor R4, one end of the restarting switch (108) is connected with a RESET end of the single chip microcomputer (102), the other end of the restarting switch is connected with a resistor R4 in series and is grounded, one end of the resistor R3 is connected with a VCC end of a power supply circuit, and the other end of the resistor R3 is connected with a PC6 end of the single chip microcomputer (102);

the gyroscope module (106) is an MPU6050, and corresponding pins of the gyroscope module (106) are respectively connected to a VCC end and a ground end of the power supply circuit, a PC5 end of the singlechip (102), a PC4 end of the singlechip (102) and a PD2 end of the singlechip (102);

the infrared receiving head (107) is VS1838, and corresponding pins of the infrared receiving head (107) are respectively connected with the PD4 end of the single chip microcomputer (102), the ground end and the VCC end of the power supply circuit;

the USB module comprises a CH340G chip (109) and a USB interface (110), the GND end of the CH340G chip (109) is grounded, the TXD end of the CH340G chip (109) is connected with the PD0 end of the singlechip (102), the RXD end of the CH340G chip (109) is connected with the PD1 end of the singlechip (102), the VCC end of the CH340G chip (109) is connected with the VCC end of a power supply circuit, the DTR end of the CH340G chip (109) is connected with the PC6 end of the singlechip (102) after being connected in series with a capacitor C9, the XI end of the CH340G chip (109) is grounded, the XO end of the CH340G chip (109) is grounded in series with a capacitor C2, a 20M external crystal oscillator is connected in parallel between the XI end and the XO end of the CH G chip (109), the pole tube end of the USB interface (110) is connected with a VCC 1 end of a power supply circuit after being connected in series with the diode D1 end of the USB interface (110), the light-emitting diode (110) is connected with the USB interface (110-UD) and the USB interface (110) is connected with the USB interface (110-UD 2 diode (110) after, the D + terminal of the USB interface (110) is connected with the UD + terminal of the CH340G chip (109), and the VSS terminal of the USB interface (110) is grounded.

2. The multifunctional robot development control system with 16-way steering engine expansion control according to claim 1, wherein the power supply circuit comprises a power supply input circuit, a logic power supply circuit and a steering engine power supply circuit, the power supply input circuit comprises a power supply interface (111), a power switch (112) and an electrolytic capacitor C8, one end of the power supply interface (111) is grounded, the other end of the power supply interface is connected with a first end of the power switch (112), a second end of the power switch (112) is a VCC end of the power supply circuit, one end of the electrolytic capacitor C8 is connected with a second end of the power switch (112), and the other end of the electrolytic capacitor C8 is grounded;

the logic power supply circuit comprises a voltage stabilizing chip (113), a capacitor C5, an electrolytic capacitor C6, a resistor R28, a light emitting diode and a Schottky diode D2, wherein the model of the voltage stabilizing chip (113) is 7805, the GND end of the voltage stabilizing chip (113) is grounded, the capacitor C5 and the electrolytic capacitor C6 are connected between the VOUT end and the GND end of the voltage stabilizing chip (113) in parallel, the resistor R28 and the light emitting diode are connected between the VOUT end of the voltage stabilizing chip (113) and one end of the electrolytic capacitor C6 in series, and the VOUT end of the voltage stabilizing chip (113) is connected with the VCC end after being connected with the Schottky diode D2 in series;

the steering engine power supply circuit comprises a voltage reduction and voltage stabilization chip (114), a Schottky diode D3, an electrolytic capacitor C7, an inductor L1, a resistor R27 and a light emitting diode, wherein the type of the voltage reduction and voltage stabilization chip (114) is LM2596, the IN end of the voltage reduction and voltage stabilization chip (114) is connected with the VIN end of a voltage stabilization chip (113), the GND end and the ON/OFF end of the voltage reduction and voltage stabilization chip (114) are grounded, the Schottky diode D3, the electrolytic capacitor C7, the inductor L1, the resistor R27 and the light emitting diode are connected IN parallel between the OUT end and the ground end of the voltage reduction and voltage stabilization chip (114), the FB end of the voltage reduction and voltage stabilization chip (114) is connected between the inductor L1 and the resistor R27, and the FB end of the voltage reduction and voltage stabilization chip (114) is the MVCC end of the power supply.

3. The multifunctional robot development control system with 16-way steering engine expansion control according to claim 1, characterized in that an ultrasonic ranging sensor interface (115), a 2-way IIC interface (116), a way TTL communication interface (117) and an SPI communication interface (118) are further arranged on the PCB (101);

corresponding pins of the ultrasonic ranging sensor interface (115) are respectively connected with a VCC end of the power supply circuit, a PB1 end of the single chip microcomputer (102), a PB2 end of the single chip microcomputer (102) and a ground end;

corresponding pins of the 2-path IIC interface (116) are respectively connected with a PC4 end of the single chip microcomputer (102), a PC5 end of the single chip microcomputer (102), a VCC end of the power supply circuit and a ground end;

corresponding pins of the TTL communication interface (117) are respectively connected with a VCC end and a ground end of the power supply circuit, a PD0 end of the single chip microcomputer (102), a PD1 end of the single chip microcomputer (102) and a PC6 end of the single chip microcomputer (102);

and corresponding pins of the SPI communication interface (118) are respectively connected with a PB4 end of the singlechip (102), a VCC end of the power supply circuit, a PB5 end of the singlechip (102), a PB3 end of the singlechip (102), a PC6 end of the singlechip (102) and a ground end.

4. The multifunctional robot development control system with 16-path steering engine expansion control according to claim 1, characterized by further comprising a buzzer (121), wherein one end of the buzzer (121) is connected to the PD5 end of the single chip microcomputer (102), and the other end is grounded.

5. The multifunctional robot development control system with 16-way steering engine expansion control according to claim 2, characterized IN that a PC0 end of the single chip microcomputer (102) is connected with an IN end of a voltage reduction and voltage stabilization chip (114) after being connected with a resistor R24 IN series, and a PC0 end of the single chip microcomputer (102) is connected with a resistor R24 IN series and is grounded.

6. The multifunctional robot development control system with 16-way steering engine expansion control according to claim 2, characterized in that 5-way internal AD conversion I/O ports (119) are arranged on the PCB (101), and the 5-way internal AD conversion I/O ports (119) are respectively connected with a PC1 end, a PC2 end, a PC3 end, a PC4 end and a PC5 end of the single chip microcomputer (102).

7. The multifunctional robot development control system with 16-way steering engine expansion control according to any one of claims 2 or 3, characterized in that 5-way pure digital I/O ports (120) are arranged on the PCB (101), and the 5-way pure digital I/O ports (120) are respectively connected with corresponding pins of the PD3 end and the PD6 end of the single chip microcomputer (102) and the ultrasonic ranging sensor interface (115).