Motor control device of amphibious robot

Abstract

The invention discloses a motor control device of an amphibious robot. The control device is connected with a master control computer via a bus module and utilizes an ARM microprocessor as a control core, the ARM microprocessor is connected with a CAN transceiver via a first isolator and is connected with an RS485 transceiver via a second isolator, a CAN bus is connected with the CAN transceiver, an RS-485 bus is connected with the RS485 transceiver, the I / O port of the microprocessor is connected with a first motor and a second motor via a first motor driver and a second motor driver and is connected with the first motor driver and the second motor driver through analog-to-digital output conversion modules, the first motor is connected with the ARM microprocessor via a rotating potentiometer, and the second motor is connected with a decoding chip module via a rotary transformer. The invention has an easily replaced interface with good generality, small volume, flexible arrangement, easy installation, clear structure, convenient debugging, low cost, high reliability and capability of realizing fault diagnosis.

Description

technical field [0001] The invention relates to the motor control technology of an underwater robot, and specifically provides a general, distributed motor control device for an amphibious robot with integrated wheels, paddles and legs. Background technique [0002] The integrated amphibious robot with wheels, paddles and legs is a special robot that can not only crawl on land, tidal flats, and the seabed, but also float in extremely shallow waters. Belt and beach area survey operations. This kind of amphibious robot cleverly combines the most commonly used propeller propellers of underwater robots with the driving wheels and crawling legs of land crawling robots, realizing automatic switching of multiple motion modes, thereby enhancing the operating capabilities of this robot. The integrated amphibious robot with wheels, paddles and legs is a bionic robot with motion modes such as floating, hexapod crawling and quadruped crawling. There are many motors on it. The tradition...

AI Technical Summary

Problems solved by technology

The integrated amphibious robot with wheels, paddles and legs is a bionic robot with motion modes such as floating, hexapod crawling and quadruped crawling. There are many motors on it. The traditional robot control system adopts centralized control for each motor. The control method relies too much on the main control computer and the centralized motor control board. Once the main control computer or the centralized motor control board fails, the entire amphibious robot will not be able to operate and will be paralyzed

The reliability of the robot control system is reduced, and it is not conducive to the assembly, debugging, fault detection and elimination of the system, as well as the maintenance, repair and maintenance of the system.

Due to the limited resources on the main control computer and the centralized motor control board, it is difficult to add devices at will, and the system has poor scalability.

With the development of electronic technology and communication technology, more and more sensors are carried by amphibious robots, and the missions completed are becoming more and more complex. The traditional centralized motor control method cannot meet the needs of the development of amphibious robot control systems.

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