CN219778116U - Chassis control system of omnidirectional mobile robot - Google Patents
Chassis control system of omnidirectional mobile robot Download PDFInfo
- Publication number
- CN219778116U CN219778116U CN202320335827.2U CN202320335827U CN219778116U CN 219778116 U CN219778116 U CN 219778116U CN 202320335827 U CN202320335827 U CN 202320335827U CN 219778116 U CN219778116 U CN 219778116U
- Authority
- CN
- China
- Prior art keywords
- communication interface
- control system
- power supply
- mobile robot
- omnidirectional mobile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004891 communication Methods 0.000 claims abstract description 72
- 238000003860 storage Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 description 10
- 230000006870 function Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides an omnidirectional mobile robot chassis control system which comprises a main control unit, an RS485 communication interface, a CAN communication interface, a network communication interface, a memory and a power supply unit, wherein the RS485 communication interface, the CAN communication interface, the network communication interface, the memory and the power supply unit are respectively connected with the main control unit; the RS485 communication interface and the CAN communication interface are both connected with a motor driving system of the robot chassis; the network communication interface is connected with the client, and the power supply unit is connected with the vehicle-mounted storage battery of the robot chassis. RS485 and CAN double-wire backup type communication improves the safety and reliability of system communication; the process data and the fault state can be transmitted to the client so as to be convenient to monitor and analyze, and the current running state can be intuitively and comprehensively known.
Description
Technical Field
The utility model relates to a mobile robot component, in particular to an omnidirectional mobile robot chassis control system.
Background
Since the 21 st century, mobile robots have played a vital role in production as a key means of improving production efficiency with the rapid development of artificial intelligence. Especially in some narrow and small, crowded, uneven road surface, the abominable operational environment of environment, the omnidirectional mobile robot that has higher nimble mobility, stationarity can be competent for more manual work unable work task, promotes work efficiency greatly.
The chassis control system of the omnidirectional mobile robot is particularly important, and the system performance of the mobile robot is directly determined. The traditional chassis control system at present has single communication mode, limited process data and fault state display, and lacks in system reliability and man-machine interaction friendliness.
Disclosure of Invention
In order to overcome the defects in the prior art, the utility model provides the chassis control system of the omnidirectional mobile robot, which is characterized in that RS485 and CAN double-line backup communication is realized, and the safety and reliability of system communication are improved; the process data and the fault state can be transmitted to the client so as to be convenient to monitor and analyze, and the current running state can be intuitively and comprehensively known.
The utility model adopts the technical proposal for solving the technical problems that: the chassis control system of the omnidirectional mobile robot comprises a main control unit, an RS485 communication interface, a CAN communication interface, a network communication interface, a memory and a power supply unit, wherein the RS485 communication interface, the CAN communication interface, the network communication interface, the memory and the power supply unit are respectively connected with the main control unit; the RS485 communication interface and the CAN communication interface are both connected with a motor driving system of the robot chassis; the network communication interface is connected with the client, and the power supply unit is connected with the vehicle-mounted storage battery of the robot chassis.
Further, the robot chassis comprises a body width adjusting unit connected with the main control unit, and the body width adjusting unit is connected with an electric cylinder of the robot chassis and a proximity switch arranged on the body of the robot chassis respectively.
Further, the vehicle body width adjusting unit includes a door driver and a photocoupler connected to each other.
Furthermore, the main control unit adopts a singlechip.
Furthermore, the RS485 communication interface adopts an RS485 transceiver, and the CAN communication interface adopts a CANFD transponder.
Furthermore, the network communication interface adopts a serial port WIFI module.
Further, the power supply unit adopts a DC-DC module power supply.
Compared with the prior art, the utility model has the following beneficial effects:
1. the system has the double-wire backup communication mode of the RS485 bus and the CAN bus, when the communication failure occurs in the main communication RS485 bus, the communication CAN be switched to the auxiliary communication CAN bus to continue, and the safety and the reliability of the system communication are greatly improved;
2. the network communication interface is arranged to interact data with the client, so that not only can a command be sent to the chassis control system of the mobile robot, but also the current data can be transmitted to the client, the current running state can be intuitively and comprehensively known, the possibility of serious faults of the mobile robot is greatly reduced, and the probability of safety accidents is effectively reduced;
3. the vehicle body width adjusting unit is arranged, and the vehicle body width can be adjusted according to real instructions so as to meet the requirements under different conditions.
The utility model has simple structure and clear and reasonable layout, and can ensure the omnibearing safe and reliable movement of the mobile robot.
Drawings
FIG. 1 is a schematic diagram of the overall connection structure of the present utility model.
The reference numerals in the drawings are respectively: 1-a main control unit; 2-a vehicle body width adjustment unit; 3-RS485 communication interface; a 4-CAN communication interface; 5-a network communication interface; 6-memory; 7-a power supply unit; 8-a motor drive system; 9-a proximity switch; 10-electric cylinder; 11-a storage battery; 12-client.
Detailed Description
The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", "front", "rear", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or component referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present utility model.
In addition, the technical features of the different embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.
The chassis control system of the omnidirectional mobile robot is based on RS485 and CAN double-line backup communication, and performs motion control on four independent running steering wheels and four independent steering wheels, so that linear motion, curve motion and in-situ rotation motion of the omnidirectional mobile robot are realized, meanwhile, process data and fault states CAN be transmitted to a client side so as to be convenient to monitor and analyze, and vehicle body width adjustment CAN be performed according to real-time instructions so as to meet the requirements under different conditions.
Example 1
As shown in fig. 1, the omnidirectional mobile robot chassis control system includes a main control unit 1, a body width adjustment unit 2, an RS485 communication interface 3, a CAN communication interface 4, a network communication interface 5, a memory 6, and a power supply unit 7.
The main control unit 1 is respectively connected with the vehicle body width adjusting unit 2, the RS485 communication interface 3, the CAN communication interface 4, the network communication interface 5 and the memory 6 in a bidirectional manner; the main control unit 1 is connected with the power supply unit 7 in one way.
The main control unit 1 preferably adopts an STM32 singlechip for receiving or sending corresponding signals to complete motion control of the mobile robot, so that the mobile robot can move flexibly in all directions, including linear motion, curvilinear motion and in-situ rotary motion, and can walk freely in various complex environments such as narrow, crowded, uneven road surfaces and the like.
The RS485 communication interface 3 is connected with a motor driving system 8 of the robot chassis, and is used as main communication of signal transmission between the main control unit 1 and the motor driving system 8, the RS485 communication interface 3 preferably adopts an RS485 transceiver TDH541S485H which is an isolated half-duplex enhanced transceiver, the bus load capacity is up to 256 node units, and the multi-node design requirement is met;
the CAN communication interface 4 is connected with a motor drive system 8 of the robot chassis, is used as a secondary communication of signal transmission between the main control unit 1 and the motor drive system 8, is switched to a secondary communication CAN bus to continue communication when a communication fault occurs in a primary communication RS485 bus, and the CAN communication interface 4 preferably adopts a CAN FD transponder TDH541SCANFD which has the functions of series connection, overvoltage (-58V to 58V) and grounding loss protection and overheat shutdown;
the network communication interface 5 is connected with the client 12, the network communication interface 5 preferably adopts a serial wifi module HLK-RM04, the system core is reliable, and the system is suitable for system application with safety and long-term operation;
the vehicle body width adjusting unit 2 is respectively connected with an electric cylinder 10 of the robot chassis and a proximity switch 9 arranged on the vehicle body of the robot chassis, and is used for transmitting corresponding signals to the electric cylinder 10 to control the vehicle body adjustment and judging the vehicle body adjustment state by receiving the data of the proximity switch sensor 9; the vehicle body width adjustment unit 2 includes a power driver ISO1H815G with isolation and a photo coupler PS2805C connected.
The power supply unit 7 is connected with the vehicle-mounted storage battery 11 of the robot chassis, and the power supply unit 7 preferably adopts a DC-DC module power supply URB4805YMD-20WR3.
It should be noted that, the above units are not limited to the listed preferred models, and other existing models with corresponding functions can be selected as the embodiment, and because all the units use the existing known components, the connection between the units is also the prior art, and the description is omitted here.
The working process of the utility model is as follows:
1. the omnidirectional mobile robot chassis control system is started, the main control unit 1 establishes connection with the client 12 through the network communication interface 5, receives control instructions in different modes, receives real-time data fed back by the motor driving system 8, obtains motor control instructions, sends the motor control instructions to the motor driving system 8 through the RS485 communication interface 3 or the CAN communication interface 4, and controls the movement of the executing motor, so that omnidirectional walking of the chassis is realized.
2. The main control unit 1 transmits real-time process data and fault states to the client 12, including information of the current rotation speed, the current angle, state information, error codes, control modes, etc. of the motor.
3. The vehicle body width is divided into two types, namely wide and narrow, and when the vehicle body width adjusting unit 2 receives a vehicle body adjusting instruction, a corresponding signal is transmitted to the electric cylinder 10, and the vehicle body adjusting state is judged by receiving the data of the proximity switch sensor 9.
4. When the RS485 bus fails, the main control unit 1 is switched to a CAN communication mode, so that the stability and reliability of the communication between the main control unit 1 and the motor driving system 8 are ensured.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the utility model.
Claims (7)
1. The omnidirectional mobile robot chassis control system is characterized by comprising a main control unit (1), an RS485 communication interface (3), a CAN communication interface (4), a network communication interface (5), a memory (6) and a power supply unit (7), wherein the RS485 communication interface (3), the CAN communication interface (4), the network communication interface (5), the memory (6) and the power supply unit (7) are respectively connected with the main control unit (1); the RS485 communication interface (3) and the CAN communication interface (4) are connected with a motor driving system (8) of the robot chassis; the network communication interface (5) is connected with the client (12), and the power supply unit (7) is connected with the vehicle-mounted storage battery (11) of the robot chassis.
2. The omnidirectional mobile robotic chassis control system of claim 1, further comprising a body width adjustment unit (2) connected to the master control unit (1), the body width adjustment unit (2) being connected to an electric cylinder (10) of the robotic chassis and a proximity switch (9) mounted on the robotic chassis body, respectively.
3. The omnidirectional mobile robotic chassis control system of claim 2, wherein the body width adjustment unit (2) comprises a door drive and a photo coupler connected.
4. The omnidirectional mobile robot chassis control system of claim 1, wherein the master control unit (1) employs a single-chip microcomputer.
5. The omnidirectional mobile robot chassis control system of claim 4, wherein the RS485 communication interface (3) employs an RS485 transceiver and the CAN communication interface (4) employs a CANFD transponder.
6. The omnidirectional mobile robot chassis control system of claim 4, wherein the network communication interface (5) employs a serial WIFI module.
7. The omnidirectional mobile robot chassis control system of claim 4, wherein the power supply unit (7) employs a DC-DC module power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320335827.2U CN219778116U (en) | 2023-02-28 | 2023-02-28 | Chassis control system of omnidirectional mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320335827.2U CN219778116U (en) | 2023-02-28 | 2023-02-28 | Chassis control system of omnidirectional mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219778116U true CN219778116U (en) | 2023-09-29 |
Family
ID=88107851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320335827.2U Active CN219778116U (en) | 2023-02-28 | 2023-02-28 | Chassis control system of omnidirectional mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219778116U (en) |
-
2023
- 2023-02-28 CN CN202320335827.2U patent/CN219778116U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202016445U (en) | Finished vehicle controller for electric vehicle | |
| CN205915329U (en) | Robot is patrolled and examined to high degree of freedom transformer | |
| CN102902258B (en) | Electric automobile integrated control system and method | |
| CN204340923U (en) | A kind of whole-control system and there is its vehicle | |
| CN102910157B (en) | EPCU(electric pneumatic control unit) backup conversion device of CCB II (computer controlled brake-second generation) brake | |
| CN109515207A (en) | A kind of intelligent driven controlling system of automatic driving vehicle | |
| CN219778116U (en) | Chassis control system of omnidirectional mobile robot | |
| CN205553953U (en) | Composite power source pure electric vehicles's vehicle control unit | |
| CN110597048A (en) | Zero-distance wireless reconnection system for locomotive | |
| CN110217185A (en) | A kind of automobile-used dual chip intelligent network connection IVCU controller | |
| CN117048417A (en) | New energy automobile trades electric system | |
| CN209433245U (en) | A kind of vehicle-mounted T-Box and BCM integrated equipment | |
| CN115085758B (en) | Working method of double-transceiver multi-mode RS-485 communication host | |
| CN112810790B (en) | Electric steering engine and using method thereof | |
| CN211628656U (en) | Hub rotation imaging advertisement interconnection system | |
| CN210744812U (en) | Super capacitor energy management system based on passenger ferry | |
| CN209044388U (en) | Chassis control system of intelligent robot | |
| CN208101895U (en) | A kind of automobile-used dual chip intelligent network connection IVCU controller | |
| CN211427114U (en) | Remote control driving control device applied to front and back double-steering container truck | |
| CN208216501U (en) | A kind of electric car electrical system assembly | |
| CN219007926U (en) | Steering switching circuit | |
| CN206235886U (en) | Intelligent vehicle and its system based on ZigBee communication | |
| CN220180765U (en) | Drive-by-wire chassis safety coefficient and vehicle | |
| CN201583840U (en) | Evaporative cooler group control system | |
| CN115174303B (en) | Pure electric ship propulsion redundant system based on CAN communication |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |