CN214335555U - Robot of sweeping floor with motor protection circuit - Google Patents
Robot of sweeping floor with motor protection circuit Download PDFInfo
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- CN214335555U CN214335555U CN202120237423.0U CN202120237423U CN214335555U CN 214335555 U CN214335555 U CN 214335555U CN 202120237423 U CN202120237423 U CN 202120237423U CN 214335555 U CN214335555 U CN 214335555U
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Abstract
A sweeping robot with a motor protection circuit comprises a power circuit, a motor protection circuit, a main control circuit and a motor set; the power supply circuit is connected with the motor protection circuit and supplies power to the motor protection circuit; the motor protection circuit is respectively connected with the main control circuit and the motor set, and the motor protection circuit prevents large current generated at the moment of starting the motor set from influencing the normal work of the sweeping robot with the motor protection circuit and achieves the aim of protecting the motor for a long time; the motor protection circuit comprises a wheel slide protection circuit, a brush protection circuit and a dust absorption protection circuit, and the motor set comprises a wheel slide driving motor, a brush driving motor and a dust absorption driving motor; the roller skating protection circuit, the hairbrush protection circuit and the dust absorption protection circuit are respectively connected with the roller skating driving motor, the hairbrush driving motor and the dust absorption driving motor, so that the maximum utilization rate of the electric quantity of the battery is achieved.
Description
Technical Field
The utility model belongs to the technical field of the robot technique of sweeping the floor and specifically relates to a robot of sweeping the floor with motor protection circuit.
Background
A floor sweeping robot, also called an automatic sweeper, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence; the whole system of the sweeping robot has motors with three functions, namely a roller-skating driving motor, a brush driving motor and a dust collection driving motor, the motors need large current to drive when working, but the motor of the sweeping robot on the market is easy to have the problem of slow reaction or even incapability of driving the motors after being used for a period of time, and the battery power can not reach the optimal utilization rate.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art not enough, provide a robot of sweeping floor with motor protection circuit.
The utility model provides a its technical problem take following technical scheme to realize:
a sweeping robot with a motor protection circuit comprises the motor protection circuit, a main control circuit and a motor set; the motor protection circuit is respectively connected with the main control circuit and the motor set, and the motor protection circuit prevents the motor set from being influenced by large current generated in the moment of starting.
Preferably, the motor protection circuit comprises a wheel slide protection circuit, a brush protection circuit and a dust collection protection circuit, and the motor set comprises a wheel slide driving motor, a brush driving motor and a dust collection driving motor; the roller skating protection circuit, the hairbrush protection circuit and the dust absorption protection circuit are respectively connected with the roller skating driving motor, the hairbrush driving motor and the dust absorption driving motor.
Preferably, the motor protection circuit further comprises a power circuit connected with the motor protection circuit, and the power circuit is connected with the motor protection circuit and supplies power to the motor protection circuit.
Preferably, the power supply circuit comprises an interface circuit, a battery management circuit and a motor power supply circuit which are connected in sequence, the power supply is connected with the input end of the interface circuit, and the output end of the motor power supply circuit is connected with the motor protection circuit.
Preferably, the device further comprises a track judgment circuit connected with the main control circuit, and the motion data detected by the track judgment circuit is transmitted to the main control circuit for data processing, and then the rotation angle and the state of the motor set are processed.
Preferably, the device further comprises a motion circuit connected with the main control circuit, and the motion circuit comprises a motion sensor and a gyroscope.
Preferably, the device further comprises a data processing circuit connected with the main control circuit.
Preferably, the wireless transmission circuit is connected with the main control circuit.
Preferably, the power supply circuit further comprises a battery management circuit, and the battery management circuit is connected with the power supply management circuit and used for supplying power to the floor sweeping robot with the motor protection circuit.
Preferably, still include with temperature sensor and electric quantity detection circuitry that master control circuit connects, temperature sensor sends the temperature data who monitors in real time to master control circuit reaches the temperature of setting for after, master control circuit can control the motor group stall, electric quantity detection circuitry is right a battery electric quantity of robot of sweeping floor that is equipped with motor protection circuit detects, in time charges, prevents under the condition of battery feed a robot of sweeping floor that is equipped with motor protection circuit still influences battery life at work.
The utility model has the advantages that:
1. the utility model relates to a floor sweeping robot with a motor protection circuit, which comprises a power circuit, a motor protection circuit, a main control circuit and a motor group; the power supply circuit is connected with the motor protection circuit and supplies power to the motor protection circuit; the motor protection circuit is respectively connected with the main control circuit and the motor set, and the motor protection circuit prevents the motor set from being influenced by large current generated in the moment of starting, so that the normal work of the sweeping robot with the motor protection circuit can be realized, and the aim of protecting the motor for a long time can be fulfilled.
2. The utility model relates to a floor sweeping robot with a motor protection circuit, wherein the motor protection circuit comprises a wheel slide protection circuit, a brush protection circuit and a dust absorption protection circuit, and a motor group comprises a wheel slide driving motor, a brush driving motor and a dust absorption driving motor; the roller skating protection circuit, the hairbrush protection circuit and the dust absorption protection circuit are respectively connected with the roller skating driving motor, the hairbrush driving motor and the dust absorption driving motor, so that the maximum utilization rate of the electric quantity of the battery is achieved.
3. The utility model relates to a control method of a sweeping robot with a motor protection circuit, when the sweeping robot with the motor protection circuit touches an obstacle, a motion sensor transmits information to a main control circuit, and the main control circuit adjusts the steering of a motor set and reduces the moving speed of the sweeping robot; when the sweeping robot with the motor protection circuit meets a suspended terrain, information is transmitted to the main control circuit, and the main control circuit controls the motor set to stop running and adjusts the running direction; the movement data detected by the track judgment circuit are transmitted to the main control circuit for data processing, then the rotation angle and the state of the motor set are processed, and the data can be processed respectively to ensure the normal work of the sweeping robot.
Drawings
Fig. 1 is a circuit connection block diagram of the present invention;
FIG. 2 is a circuit diagram of the pulley voltage regulation chip U16 of the present invention;
FIG. 3 is a circuit diagram of the roller skate protection chip U17 of the present invention;
FIG. 4 is a circuit diagram of the brush voltage regulation chip U14 of the present invention;
FIG. 5 is a circuit diagram of the brush protection chip U15 of the present invention;
FIG. 6 is a circuit connection diagram of a dust-collecting voltage-stabilizing chip U12 of the present invention;
FIG. 7 is a circuit connection diagram of the dust absorption protection chip U13 of the present invention;
fig. 8 is a connection diagram of the interface circuit of the present invention;
fig. 9 is a connection diagram of the battery management circuit of the present invention;
fig. 10 is a connection diagram of a motor power supply circuit of the present invention;
fig. 11 is a circuit diagram of the power supply U5 chip of the present invention;
fig. 12 is a circuit diagram of the power supply U7 chip of the present invention;
fig. 13 is a circuit diagram of the power supply U9 chip of the present invention;
fig. 14 is a circuit diagram of the memory chip U24 of the present invention;
fig. 15 is a circuit diagram of the processing chip U25 of the present invention;
fig. 16 is a circuit diagram of the motion sensor of the present invention;
fig. 17 is a circuit diagram of a gyroscope of the present invention;
fig. 18 is a connection diagram of the trajectory determination circuit of the present invention;
fig. 19 is a circuit diagram of the temperature sensor of the present invention;
fig. 20 is a connection diagram of the power detection circuit of the present invention;
fig. 21 is a connection diagram of a wireless transmission circuit according to the present invention;
fig. 22 is a circuit diagram of the motor assembly of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, the floor sweeping robot with the motor protection circuit of the present invention includes a power circuit, a motor protection circuit, a main control circuit and a motor set;
the power supply circuit is connected with the motor protection circuit and supplies power to the motor protection circuit; the motor protection circuit is respectively connected with the main control circuit and the motor set, and the motor protection circuit prevents large current generated at the moment of starting the motor set from influencing the normal work of the sweeping robot with the motor protection circuit;
further, as shown in fig. 1 to 22, the motor protection circuit includes a wheel slide protection circuit, a brush protection circuit, and a dust collection protection circuit, and the motor unit includes a wheel slide driving motor, a brush driving motor, and a dust collection driving motor; the wheel slide protection circuit, the brush protection circuit and the dust absorption protection circuit are respectively connected with the wheel slide driving motor, the brush driving motor and the dust absorption driving motor;
specifically, the power circuit is respectively connected with the wheel slide protection circuit, the brush protection circuit and the dust collection protection circuit; the structures of the wheel slide protection circuit, the brush protection circuit and the dust collection protection circuit are the same, the wheel slide protection circuit comprises a wheel slide voltage stabilizing chip U16 and a wheel slide protection chip U17 connected with the wheel slide voltage stabilizing chip U16, the power supply circuit is connected with a +3.3V end of the wheel slide voltage stabilizing chip U16 and a +12V end of the wheel slide protection chip U17, an X _ PWM3_ A end, an X _ PWM3_ B end and an X _ PWM3_ C end of the wheel slide voltage stabilizing chip U16 are respectively connected with an X _ PWM3_ A end, an X _ PWM3_ B end and an X _ PWM3_ C end of the wheel slide protection chip U17, and an X _ X end, a Y _ X end and a Z _ X end of the wheel slide protection chip 493U 17 are respectively connected with an X _ X end, a Y _ X end and a Z _ X end of a wheel slide driving motor; the brush protection circuit comprises a brush voltage stabilizing chip U14 and a brush protection chip U15 connected with the brush voltage stabilizing chip U14, and the brush protection chip U15 is connected with an X _ L end, a Y _ L end and a Z _ L end of the brush driving motor; the dust collection protection circuit comprises a dust collection voltage stabilization chip U12 and a dust collection protection chip U13 connected with the dust collection voltage stabilization chip U12, wherein the dust collection protection chip U13 is connected with an X _ M end, a Y _ M end and a Z _ M end of the dust collection driving motor.
Further, as shown in fig. 8 to 13, the motor protection circuit further includes a power supply circuit connected to the motor protection circuit, and the power supply circuit supplies power to the motor protection circuit; the power supply circuit comprises an interface circuit, a battery management circuit and a motor power supply circuit which are connected in sequence, the power supply circuit is connected with an input end of the interface circuit, an output end of the motor power supply circuit is connected with the motor protection circuit, and the battery management circuit is used for supplying power for the sweeping robot with the motor protection circuit through being connected with the power supply management circuit.
Specifically, an input power supply is connected with a B8 end of the interface circuit, a +5V _ USB _ VBUS end of the interface circuit is connected with a +5V _ USB _ VBUS end of the battery management circuit, the battery management circuit automatically detects the charging completion state of the battery, and reminds power failure, and a charging protection is built in to prevent overcharging; the MAIN _ POWER end of the battery management circuit is connected with the MAIN _ POWER end of the motor POWER supply circuit; the +12V end of the motor power supply circuit is respectively connected with the +12V end of the pulley protection chip U17, the brush protection chip U15 and the dust collection protection chip U13; the POWER management circuit comprises a POWER U5 chip, a POWER U7 chip and a POWER U9 chip, wherein the MAIN _ POWER end of the battery management circuit is respectively connected with the POWER U5 chip and the POWER U7 chip; the VCC _ Sys end of the battery management circuit is connected with the Sys _ Power end of the Power supply U9 chip, and +5V voltage is converted into +3.3V, +1.2V and +1.8V voltage respectively by the Power supply U5 chip, the Power supply U7 chip and the Power supply U9 chip to supply Power to the sweeping robot with the motor protection circuit.
Further, as shown in fig. 14 and fig. 15, the electronic device further includes a data processing circuit connected to the main control circuit; the data processing circuit comprises a storage chip U24 and a processing chip U25, and the data processing circuit respectively stores the data of the main control circuit and processes images.
Further, as shown in fig. 16 and 17, the device further includes a motion circuit connected to the main control circuit, where the motion circuit includes a motion sensor and a gyroscope; the main control circuit is connected with an FPGA _12C _ SDA end and an FPGA _12C _ SCL end of the motion sensor; the main control circuit is connected with an FPGA _12C _ SDA end and an FPGA _12C _ SCL end of the gyroscope, when the sweeping robot provided with the motor protection circuit touches an obstacle, the motion sensor transmits information to the main control circuit, and the main control circuit adjusts the steering of the motor set and reduces the moving speed of the sweeping robot; when the sweeping robot with the motor protection circuit meets a suspended terrain, information is transmitted to the main control circuit, and the main control circuit controls the motor set to stop running and adjust the running direction.
Further, as shown in fig. 18, the device further includes a trajectory determination circuit connected to the main control circuit, and the motion data detected by the trajectory determination circuit is transmitted to the main control circuit for data processing, and then the rotation angle and the state of the motor unit are processed; specifically, the model of the master control circuit is FPGA-M2S 025; the main control circuit is connected with a 12C _ SDA end and a 12C _ SCL end of the track judging circuit, the track judging circuit can reach a measuring distance of 20m, the sampling frequency is 5000HZ, the mapping resolution is 0.05m, the mapping error angle is 0.3 degrees, and the data and positioning information updating frequency is 10HZ to realize rapid positioning; the utility model provides a robot of sweeping floor with motor protection circuit after the work, the orbit is judged the circuit and can is gathered peripheral map data rapidly and is passed through master control circuit transmits extremely data processing circuit saves and handles, through motion sensor reaches the supplementary judgement of gyroscope a robot of sweeping floor with motor protection circuit is in the state of course of the work, is applicable to complicated operational environment.
Further, as shown in fig. 19, the temperature sensor connected to the main control circuit is further included; specifically, master control circuit connects temperature sensor's 12C _ SDA end and 12C _ SCL end, temperature sensor monitors a battery temperature of sweeping the floor robot with motor protection circuit, and when battery calorific capacity is great, temperature sensor sends the temperature data of monitoring in real time to master control circuit, after reaching the temperature of setting for, master control circuit can control the stop rotation of motor group.
Further, as shown in fig. 20, the power supply further includes a power detection circuit connected to the main control circuit; specifically, master control circuit connects electric quantity detection circuitry's 12C _ SDA end and 12C _ SCL end, right a robot's of sweeping floor that is equipped with motor protection circuit battery electric quantity detects, in time charges, prevents under the condition of battery feed a robot of sweeping floor that is equipped with motor protection circuit still influences battery life at work.
Further, as shown in fig. 21, the wireless communication device further includes a wireless transmission circuit connected to the main control circuit; the wireless transmission circuit comprises a Bluetooth chip U26, and data is wirelessly transmitted through the Bluetooth chip.
The working principle is as follows: the power supply circuit is connected with the motor protection circuit and supplies power to the motor protection circuit; the motor protection circuit is respectively connected with the main control circuit and the motor set, and the motor protection circuit prevents large current generated at the moment of starting the motor set from influencing the normal work of the sweeping robot with the motor protection circuit; when the sweeping robot with the motor protection circuit touches an obstacle, the motion sensor transmits information to the main control circuit, and the main control circuit adjusts the steering of the motor set and reduces the moving speed of the sweeping robot; when the sweeping robot with the motor protection circuit meets a suspended terrain, information is transmitted to the main control circuit, and the main control circuit controls the motor set to stop running and adjusts the running direction; and the motion data detected by the track judgment circuit is transmitted to the main control circuit for data processing, and then the rotation angle and the state of the motor set are processed.
The utility model comprises a power circuit, a motor protection circuit, a main control circuit and a motor group; the power supply circuit is connected with the motor protection circuit and supplies power to the motor protection circuit; the motor protection circuit is respectively connected with the main control circuit and the motor set, and the motor protection circuit prevents large current generated at the moment of starting the motor set from influencing the normal work of the sweeping robot with the motor protection circuit and achieves the aim of protecting the motor for a long time; the motor protection circuit comprises a wheel slide protection circuit, a brush protection circuit and a dust absorption protection circuit, and the motor set comprises a wheel slide driving motor, a brush driving motor and a dust absorption driving motor; the roller skating protection circuit, the hairbrush protection circuit and the dust absorption protection circuit are respectively connected with the roller skating driving motor, the hairbrush driving motor and the dust absorption driving motor, so that the maximum utilization rate of the electric quantity of the battery is achieved.
The above description is for the detailed description of the preferred possible embodiments of the present invention, but the embodiments are not intended to limit the scope of the present invention, and all equivalent changes or modifications accomplished under the technical spirit suggested by the present invention should fall within the scope of the present invention.
Claims (9)
1. The utility model provides a robot of sweeping floor with motor protection circuit which characterized in that: the motor protection circuit comprises a power circuit, a motor protection circuit, a main control circuit and a motor set; the power supply circuit comprises an interface circuit, a battery management circuit and a motor power supply circuit which are sequentially connected, wherein a power supply is connected with the input end of the interface circuit, and the output end of the motor power supply circuit is connected with the motor protection circuit; the motor protection circuit is respectively connected with the main control circuit and the motor set, and the motor protection circuit prevents the motor set from being influenced by large current generated in the moment of starting.
2. The sweeping robot with the motor protection circuit as claimed in claim 1, wherein: the motor protection circuit comprises a wheel slide protection circuit, a brush protection circuit and a dust absorption protection circuit, and the motor set comprises a wheel slide driving motor, a brush driving motor and a dust absorption driving motor; the roller skating protection circuit, the hairbrush protection circuit and the dust absorption protection circuit are respectively connected with the roller skating driving motor, the hairbrush driving motor and the dust absorption driving motor.
3. The sweeping robot with the motor protection circuit as claimed in claim 1, wherein: the motor protection circuit is connected with the motor protection circuit, and the power supply circuit is connected with the motor protection circuit and supplies power to the motor protection circuit.
4. The sweeping robot with the motor protection circuit as claimed in claim 1, wherein: the track judgment circuit is connected with the main control circuit, and the motion data detected by the track judgment circuit is transmitted to the main control circuit for data processing, and then the rotation angle and the state of the motor set are processed.
5. The sweeping robot with the motor protection circuit as claimed in claim 1, wherein: the motion circuit is connected with the main control circuit and comprises a motion sensor and a gyroscope.
6. The sweeping robot with the motor protection circuit as claimed in claim 1, wherein: the data processing circuit is connected with the main control circuit.
7. The sweeping robot with the motor protection circuit as claimed in claim 1, wherein: the wireless transmission circuit is connected with the main control circuit.
8. The sweeping robot with the motor protection circuit as claimed in claim 1, wherein: the power supply circuit further comprises a battery management circuit, and the battery management circuit is connected with the power supply management circuit and used for supplying power to the sweeping robot with the motor protection circuit.
9. The sweeping robot with the motor protection circuit as claimed in claim 1, wherein: still include with temperature sensor and electric quantity detection circuitry that master control circuit connects, temperature sensor sends the temperature data who monitors in real time to master control circuit, after reaching the temperature of settlement, master control circuit can control the motor group stall, electric quantity detection circuitry is right a battery electric quantity of robot of sweeping floor with motor protection circuit detects, in time charges, prevents under the condition of battery feed a robot of sweeping floor with motor protection circuit still influences battery life at work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120237423.0U CN214335555U (en) | 2021-01-27 | 2021-01-27 | Robot of sweeping floor with motor protection circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120237423.0U CN214335555U (en) | 2021-01-27 | 2021-01-27 | Robot of sweeping floor with motor protection circuit |
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| Publication Number | Publication Date |
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| CN214335555U true CN214335555U (en) | 2021-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120237423.0U Active CN214335555U (en) | 2021-01-27 | 2021-01-27 | Robot of sweeping floor with motor protection circuit |
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| CN (1) | CN214335555U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114815793A (en) * | 2021-01-27 | 2022-07-29 | 北京科技大学天津学院 | Floor sweeping robot and control method thereof |
-
2021
- 2021-01-27 CN CN202120237423.0U patent/CN214335555U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114815793A (en) * | 2021-01-27 | 2022-07-29 | 北京科技大学天津学院 | Floor sweeping robot and control method thereof |
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