Control module of mobile equipment and mobile equipment

Abstract

The utility model provides a control module of a mobile device and the mobile device, the control module of the mobile device comprises a battery management circuit board, a motor drive circuit board and a flight control circuit board which are stacked in sequence, and each board is cascaded through a communication interface and a communication bus, thereby realizing expansion of interfaces, computing power and the like. A control module of the mobile device is high in integration level, simple in wiring and low in error rate, a battery management circuit board is responsible for power-on and power-off control, a main processor and a flight controller are arranged on a flight control circuit board, and the main processor serves as a computing power platform for autonomous navigation route planning and obstacle avoidance control. The mobile device can be flexibly connected with different sampling devices and finally output corresponding flight control signals according to data acquired by the sampling devices, and the motor driving circuit board is used for driving the motor according to the flight control signals, so that the attitude, position and speed of the mobile device are controlled, and autonomous navigation and obstacle avoidance are realized.

Description

Technical Field

[0001] The utility model belongs to the technical field of mobile equipment, and in particular relates to a control module of a mobile equipment and the mobile equipment. Background Art

[0002] Due to the flexibility and mobility of mobile devices such as drones and mobile robots, mobile devices are widely used in various industries.

[0003] The existing mobile device design mainly adopts the general module integration method, which directly results in weak computing power at the edge, limited support for artificial intelligence algorithms, low integration of the control system, complex wiring, high error rate and other problems, resulting in poor flexibility. Utility Model Content

[0004] The purpose of the utility model is to provide a control module for a mobile device, aiming to solve the problems of poor flexibility of the control system of traditional mobile devices, weak computing power at the edge, and limited support for artificial intelligence algorithms.

[0005] A first aspect of an embodiment of the utility model provides a control module of a mobile device, comprising a battery management circuit board, a motor drive circuit board and a flight control circuit board stacked in sequence;

[0006] The battery management circuit board is connected to the motor drive circuit board and the flight control circuit board respectively through a power bus, each circuit board is provided with a communication interface, and each circuit board realizes uplink and downlink cascading of the circuit board through the communication interface and the communication bus;

[0007] The battery management circuit board is also provided with a button interface and a battery interface, wherein the button interface is used to connect the power button, and the battery interface is used to connect the power supply battery. The battery management circuit board is triggered by the trigger instruction of the power button to control the motor drive circuit board and the flight control circuit board to power on or off;

[0008] The motor drive circuit board is also provided with a motor interface for connecting the motor. The motor drive circuit board is controlled by the power signal output by the battery management circuit board and the flight control signal output by the flight control circuit board and triggers the control of the motor rotation to change the attitude, position and speed of the mobile device to achieve autonomous navigation and obstacle avoidance.

[0009] The flight control circuit board is also provided with a main processor, a flight controller and a data interface for connecting different sampling devices. The main processor is used to obtain the environmental data and attitude data of the mobile device through the data interface and perform autonomous navigation route planning and obstacle avoidance control, and trigger the flight controller to output the corresponding flight control signal.

[0010] Optionally, the communication interface on the battery management circuit board includes a first communication interface and a second communication interface, the first communication interface is used for cascade connection of the next-level module, and the second communication interface is connected to the communication interface of the motor drive circuit board through a communication bus;

[0011] A battery management circuit is also provided on the battery management circuit board, and the battery management circuit is respectively connected to the power bus, the first communication interface, the second communication interface, the battery interface and the button interface; the battery management circuit is used for cascade communication with the next-level module through the first communication interface and cascade communication with the motor drive circuit board through the second communication interface, and for controlling the motor drive circuit board and the flight control circuit board to power on or off by the trigger instruction of the power on / off button.

[0012] Optionally, a safety switch is further provided on the battery management circuit board, and the safety switch is connected between the battery management circuit and the battery interface;

[0013] The safety switch is triggered to switch on and off the power supply between the battery and the battery management circuit by a triggering operation.

[0014] Optionally, the battery management circuit board is also provided with a communication interface and a software upgrade interface;

[0015] The communication interface is used to connect to an external communication device, and the battery management circuit is also connected to communicate with the external communication device through the communication interface;

[0016] The software upgrade interface is used to connect to an external upgrade device. The battery management circuit is also connected to the external upgrade device through the software upgrade interface to perform software upgrade.

[0017] Optionally, the communication interface of the motor drive circuit board includes a third communication interface and a fourth communication interface, the third communication interface is connected to the second communication interface of the battery management circuit board through a communication bus, and the fourth communication interface is connected to the fifth communication interface on the flight control circuit board through a communication bus;

[0018] The motor drive circuit board is also provided with a motor driver and an encoder interface;

[0019] The motor driver is respectively connected to the power bus, the third communication interface, the fourth communication interface, the motor interface and the encoder interface, and the encoder interface is used to connect the motor and obtain the speed and position information of the motor;

[0020] The motor driver is used to communicate with the battery management circuit board and the flight control circuit board through the third communication interface and the fourth communication interface respectively, and to control the rotation of the motor by being triggered by the power signal output by the battery management circuit board, the flight control signal output by the flight control circuit board, and the speed and position information of the motor, so as to control the attitude, position and speed of the mobile device and realize autonomous navigation and obstacle avoidance.

[0021] Optionally, the main processor includes a CPU chip and a GPU chip, the CPU chip is used to perform logic operations, and the GPU chip is used to perform image processing;

[0022] The communication interface on the flight control circuit board includes a fifth communication interface and a sixth communication interface, the fifth communication interface is connected to the fourth communication interface of the motor drive circuit board through a communication bus, and the sixth communication interface is used for cascading with the next level module;

[0023] The main processor processes the acquired environmental data and posture data of the mobile device through the GPU chip and the CPU chip, performs autonomous navigation route planning and obstacle avoidance control, and triggers the flight controller to output the corresponding flight control signal.

[0024] Optionally, the data interface includes a high-speed interface, a storage interface, a network port and a sensor interface, and a board-level module cascade communication interface;

[0025] The high-speed interface is used to connect to a high-speed device and obtain external image information;

[0026] The storage interface is used to connect to a storage device and store data;

[0027] Network port, used to connect high-speed network equipment;

[0028] Sensor interface, used to connect sensors and obtain external environmental parameters.

[0029] Optionally, an auxiliary power supply interface is also provided on the flight control circuit board, and the auxiliary power supply interface is used to connect an auxiliary battery.

[0030] Optionally, a debugging interface is also provided on the flight control circuit board, so that the flight controller can be connected to a debugging device through the debugging interface and perform system debugging.

[0031] A second aspect of an embodiment of the present invention provides a mobile device, including the control module of the mobile device as described above.

[0032] Compared with the prior art, the beneficial effects of the embodiments of the utility model are as follows: the control module of the above-mentioned mobile device includes a battery management circuit board, a motor drive circuit board and a flight control circuit board which are stacked in sequence, and the boards are connected through a communication bus, a communication interface and a power bus. The control module of the mobile device has high integration, simple wiring and low error rate. The battery management circuit board is responsible for the up and down power control, and can monitor and manage the power consumption of the entire control module. The flight control circuit board is provided with a main processor, a flight controller and multiple data interfaces, which can be flexibly connected to different sampling devices. The main processor serves as an artificial intelligence computing power platform for autonomous navigation planning and obstacle avoidance control, and triggers the flight controller to output corresponding flight control signals based on the data obtained by the sampling device. The motor drive circuit board is used to drive the motor according to the flight control signal, thereby controlling the attitude, position and speed of the mobile device to achieve autonomous navigation and obstacle avoidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0034] Figure 1 A schematic diagram of a first structure of a control module of a mobile device provided by an embodiment of the utility model;

[0035] Figure 2 A second structural schematic diagram of a control module of a mobile device provided by an embodiment of the utility model;

[0036] Figure 3 A schematic diagram of the first structure of a battery management circuit board provided in an embodiment of the utility model;

[0037] Figure 4 A second structural schematic diagram of a battery management circuit board provided in an embodiment of the utility model;

[0038] Figure 5 A schematic diagram of the structure of a motor drive circuit board provided in an embodiment of the utility model;

[0039] Figure 6 A schematic diagram of the first structure of a flight control circuit board provided by an embodiment of the utility model;

[0040] Figure 7A second structural schematic diagram of a flight control circuit board provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0041] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0043] A first aspect of an embodiment of the present invention provides a control module 100 for a mobile device, where the mobile device may be a drone, a mobile robot, or the like.

[0044] like Figure 1 As shown, in this embodiment, the control module 100 of the mobile device includes a battery management circuit board 10, a motor drive circuit board 20 and a flight control circuit board 30 which are stacked in sequence;

[0045] The battery management circuit board 10 is connected to the motor drive circuit board 20 and the flight control circuit board 30 through the power bus 50. Each circuit board is provided with a communication interface. Each circuit board realizes uplink and downlink cascading through the communication interface and the communication bus.

[0046] The battery management circuit board 10 is also provided with a button interface 12 and a battery interface 11. The button interface 12 is used to connect the power button 300, and the battery interface 11 is used to connect the power supply battery 200. The battery management circuit board 10 receives the trigger instruction of the power button 300 to trigger the motor drive circuit board 20 and the flight control circuit board 30 to power on or off.

[0047] The motor driving circuit board 20 is also provided with a motor interface 21 for connecting the motor 400. The motor driving circuit board 20 is controlled by the power signal output by the battery management circuit board 10 and the flight control signal output by the flight control circuit board 30 and triggers the control motor 400 to rotate, so as to control the attitude, position and speed of the mobile device and realize autonomous navigation and obstacle avoidance.

[0048] The flight control circuit board 30 is also provided with a main processor 32, a flight controller 33 and a data interface 31 for connecting different sampling devices 500. The main processor 32 is used as an artificial intelligence computing platform to obtain the environmental data and posture data of the mobile device through the data interface 31 and perform autonomous navigation route planning and obstacle avoidance control, and trigger the flight controller 33 to output corresponding flight control signals.

[0049] In this embodiment, the communication interface on the battery management circuit board 10 is connected to the communication interface of the motor drive circuit board 20, and the communication interface on the motor drive circuit board 20 is connected to the communication interface on the flight control circuit board 30. Each circuit board has two communication interfaces, namely an uplink interface and a downlink interface. The uplink interface of the previous level is connected to the downlink interface bus of the next level to realize the uplink and downlink cascading between the circuit boards, thereby realizing the expanded cascade access of the control modules between different circuit boards, and realizing the superposition of the interfaces and computing power of each control module, thereby enhancing the computing power of the edge end of the control module 100, improving the support capability of the artificial intelligence algorithm, and enriching the control interface of the control module 100.

[0050] In an alternative embodiment, if Figure 1 As shown, the communication interface on the battery management circuit board 10 includes a first communication interface 13 and a second communication interface 14, the first communication interface 13 is used to cascade with the next level module, and the second communication interface 14 is connected to the third communication interface 22 of the motor drive circuit board 20 through a communication bus;

[0051] The communication interface of the motor drive circuit board 20 includes a third communication interface 22 and a fourth communication interface 23, the third communication interface 22 is connected to the second communication interface 14 of the battery management circuit board 10 through a communication bus, and the fourth communication interface 23 is connected to the fifth communication interface 34 on the flight control circuit board 30 through a communication bus;

[0052] The communication interface on the flight control circuit board 30 includes a fifth communication interface 34 and a sixth communication interface 35. The fifth communication interface 34 is connected to the fourth communication interface 23 of the motor drive circuit board 20 through a communication bus, and the sixth communication interface 35 is used for cascading with the next level module.

[0053] The first communication interface 13 and the second communication interface 14 serve as the uplink and downlink communication interfaces on the battery management circuit board 10, and are used to connect the communication interface of the motor drive circuit board 20 to realize uplink and downlink cascade communication. The third communication interface 22 and the fourth communication interface 23 serve as the uplink and downlink communication interfaces of the motor drive circuit board 20, and are used to connect the communication interface on the flight control circuit board 30 to realize uplink and downlink cascade communication. The fifth communication interface 34 and the sixth communication interface 35 serve as the uplink and downlink communication interfaces on the flight control circuit board 30, and are used to connect the communication interface on the motor drive circuit board 20 to realize uplink and downlink cascade communication, thereby realizing the expanded cascade access of control modules between different circuit boards, realizing the computing power superposition of each control module, enhancing the computing power of the edge end of the control module 100, and improving the support capability of the artificial intelligence algorithm.

[0054] The first communication interface 13 and the sixth communication interface 35 serve as the upstream and downstream communication interfaces of the entire control module 100, and can also be cascaded with the control module of the next-level module. The next-level module can be another control module 100, or another circuit board, thereby realizing the extended cascade access of control modules between different control modules 100 or different circuit boards, realizing the superposition of computing power of each control module, and enhancing the computing power of the edge end of the control module 100.

[0055] The control module 100 adopts a modular design mode, and the three main functions of battery management, motor 400 drive and flight control are customized into a battery management circuit board 10, a motor drive circuit board 20 and a flight control circuit board 30, and respectively realize battery management, motor 400 drive and flight control work. The corresponding functional modules and the required interfaces are integrated on each board to reduce signal delay and interference between signals. The battery management circuit board 10, the motor drive circuit board 20 and the flight control circuit board 30 adopt a stacked board design, which further reduces the structure of the control module 100.

[0056] The battery management circuit board 10 is responsible for the power control of the control module 100 of the entire mobile device. When the power supply battery 200 is normally inserted into the battery interface 11, the standby power module inside the battery management circuit board 10 starts to work and starts to detect the status of the power button 300. When the power-on signal of the power button 300 is detected, the battery management circuit board 10 triggers power-on. At the same time, the communication bus 40 starts to work and establishes the communication status between the circuit boards.

[0057] The battery management circuit board 10 simultaneously performs internal self-checking, monitors the battery voltage and output current, and when overcurrent, overvoltage, short circuit or other faults are detected, the power supply battery 200 is protected, the battery management circuit board 10 shuts down all power outputs, and sends out an error signal.

[0058] When the battery management circuit board 10 self-checks normally, the motor drive circuit board 20 and the flight control circuit board 30 are powered on accordingly through the power bus 50, wherein the battery management circuit board 10 is also provided with a first controllable power switch, a second controllable power switch and two power-on control ports, one power-on control port is respectively connected to the power bus 50 and the first controllable power switch, and the other power-on control port is respectively connected to the power bus 50 and the second controllable power switch, and the power bus 50 is also connected to the motor drive circuit board 20 and the flight control circuit board 30. When the battery management circuit board 10 controls the on and off of the first controllable power switch, the motor drive circuit board 20 is powered on or off accordingly, and when the battery management circuit board 10 controls the on and off of the second controllable power switch, the flight control circuit board 30 is powered on or off accordingly.

[0059] When the power-off signal of the power button 300 is detected, the communication bus 40 of the battery management circuit board 10 sends a system power-off command, the motor drive circuit board 20 and the flight control circuit board 30 enter the pre-power-off working mode, and send back confirmation power-off information. The battery management circuit board 10 waits for the power-off command from the communication bus 40 and then performs the power-off operation, or waits for a timeout before powering off.

[0060] The communication bus 40 may adopt a corresponding type of signal bus. In an optional embodiment, the communication bus 40 is a CAN bus.

[0061] The motor drive circuit board 20 is the execution terminal of the mobile device. The power on or off of the motor drive circuit board 20 is controlled by the on and off of the first controllable power switch of the battery management circuit board 10. When the first controllable power switch outputs power normally, the standby power of the motor drive circuit board 20 starts to work, the CAN bus starts to work, and the battery management circuit board 10 establishes a communication connection with the motor drive circuit board 20. At this time, the standby power of the motor drive circuit board 20 is powered on and the internal monitoring module starts to work to monitor the working state of the motor drive circuit board 20. When the motor drive circuit board 20 system is monitored to be normal, the motor driver operates normally and controls the power module not to be powered on to reduce the power consumption of the whole machine. When the CAN bus receives the flight control signal output by the flight control circuit board 30, the motor drive circuit board 20 controls the power module and the motor 400 to power on, enter the working state, and control the attitude, position and speed of the mobile device and realize autonomous navigation and obstacle avoidance flight, otherwise the system will report an error and will not run. The internal motor driver 24 adopts a sensed FOC control algorithm to make the motor 400 more energy-efficient. At the same time, the motor 400 is more sensitive to control, so that the mobile device has higher maneuverability.

[0062] The flight control circuit board 30 is the control center of the mobile device. The power on or off of the flight control circuit board 30 is controlled by the on-off of the second controllable power switch of the battery management circuit board 10. When the second controllable power switch outputs power normally, the standby power of the flight control circuit board 30 starts to work, the CAN bus starts to work, and a communication connection is established between the battery management circuit board 10 and the flight control circuit board 30, as well as a communication connection between the flight control circuit board 30 and the motor drive circuit board 20. At this time, the standby power of the flight control circuit board 30 is powered on and the internal monitoring module works to monitor the working status of the flight control circuit board 30. When the system is monitored to be normal, it runs normally and enters the working state, otherwise the system reports an error and does not run.

[0063] Among them, the internal controller of the flight control circuit board 30 includes a main processor 32 and a flight controller 33. The main processor 32 is used to implement the main logical operations and image processing work, and output corresponding control signals to the flight controller 33. After the flight control circuit board 30 enters the working state, the main processor 32 controls the operation of each sampling device 500 through the data interface 31 and performs data collection to obtain the environmental data and posture data of the mobile device. The environmental data includes parameter data or image data such as smoke, dust, obstacles, etc., and the posture data may include position data, posture data, and speed data.

[0064] At the same time, the flight control circuit board 30 has an integrated attitude sensor, which is used to feedback the attitude of the entire mobile device. At the same time, all data is transmitted to the main processor 32 in the flight control circuit board 30 through the board-level internal bus. The main processor 32 performs autonomous navigation route planning and obstacle avoidance control based on artificial intelligence algorithm processing, and triggers the flight controller 33 to output a corresponding flight control signal. The flight control signal is output to the motor drive circuit board 20 through the CAN bus, thereby realizing the speed, attitude and position control of the mobile device and realizing autonomous navigation and obstacle avoidance flight.

[0065] Furthermore, a wireless module may be provided on the flight control circuit board 30, and the flight control circuit board 30 may build a wireless local area network through the wireless module for storing and transmitting key data of the mobile device.

[0066] Among them, one or more motors 400 may be used, and the type of motor 400 may be selected according to demand. In an optional embodiment, the motor 400 includes four brushless motors 400.

[0067] The battery management circuit board 10, the motor drive circuit board 20 and the flight control circuit board 30 can be provided with corresponding control units, monitoring units and power units according to functional requirements. In an optional embodiment, Figure 2As shown, a battery management circuit 15 is also provided on the battery management circuit board 10, and the battery management circuit 15 is respectively connected to the power bus 50, the first communication interface 13, the second communication interface 14, the battery interface 11 and the key interface 12;

[0068] The battery management circuit 15 is used for cascade communication with the next-level module through the first communication interface 13 and cascade communication with the motor drive circuit board 20 through the second communication interface 14, and is used to trigger the power-on or power-off of the motor drive circuit board 20 and the flight control circuit board 30 in response to the trigger instruction of the power on / off button 300.

[0069] like Figure 5 As shown, the motor drive circuit board 20 is also provided with a motor driver 24 and an encoder interface 25;

[0070] The motor driver 24 is respectively connected to the power bus 50, the third communication interface 22, the fourth communication interface 23, the motor interface 21 and the encoder interface 25, and the encoder interface 25 is used to connect to the motor 400 and obtain the speed and position information of the motor 400;

[0071] The motor driver 24 is used to communicate with the battery management circuit board 10 and the flight control circuit board 30 through the third communication interface 22 and the fourth communication interface 23 respectively, and is controlled by the power signal output by the battery management circuit board 10, the flight control signal output by the flight control circuit board 30, and the speed and position information of the motor 400, to trigger the control of the motor 400 to rotate, so as to control the attitude, position and speed of the mobile device and realize autonomous navigation and obstacle avoidance.

[0072] In this embodiment, the battery management circuit 15 is responsible for the battery management of the battery management circuit board 10, the motor driver 24 is responsible for driving the motor 400 of the motor drive circuit board 20, the main processor 32 is used to implement the main logical operations and image processing, and output corresponding control signals to control the flight controller 33, and the flight controller 33 is responsible for the flight control of the flight control circuit board 30.

[0073] The battery management circuit 15 is responsible for the power control of the control module 100 of the entire mobile device. When the power supply battery 200 is normally inserted into the battery interface 11, the standby power module inside the battery management circuit 15 starts to work and starts to detect the status of the power button 300. When the power-on signal of the power button 300 is detected, the battery management circuit 15 triggers power-on. At the same time, the communication bus 40 starts to work and establishes the communication status between the circuit boards.

[0074] The battery management circuit 15 simultaneously performs internal self-checking to monitor the battery voltage and output current. When overcurrent, overvoltage, short circuit or other faults are detected, the power supply battery 200 is protected, the battery management circuit 15 shuts down all power outputs and sends out an error signal.

[0075] When the battery management circuit 15 self-checks normally, the motor drive circuit board 20 and the flight control circuit board 30 are powered on accordingly through the power bus 50, wherein the battery management circuit 15 is also provided with a first controllable power switch, a second controllable power switch and two power-on control ports, one power-on control port is respectively connected to the power bus 50 and the first controllable power switch, and the other power-on control port is respectively connected to the power bus 50 and the second controllable power switch, and the power bus 50 is respectively connected to the motor drive circuit board 20 and the flight control circuit board 30, when the battery management circuit 15 controls the first controllable power switch to be turned on and off, the motor drive circuit board 20 is powered on or off accordingly, and when the battery management circuit 15 controls the second controllable power switch to be turned on and off, the flight control circuit board 30 is powered on or off accordingly.

[0076] When the power-off signal of the power button 300 is detected, the communication bus 40 of the battery management circuit 15 sends a system power-off command, the motor driver 24 and the flight controller 33 enter the pre-power-off working mode, and send back confirmation power-off information. The battery management circuit 15 waits for the power-off command from the communication bus 40 before performing the power-off operation, or waits for a timeout before powering off.

[0077] The power-on or power-off of the motor driver 24 is determined by the on-off of the first controllable power switch of the battery management circuit 15. When the first controllable power switch outputs power normally, the internal standby power supply on the motor drive circuit board 20 starts to work, the CAN bus starts to work, and the communication connection between the battery management circuit 15 and the motor driver 24 is established. At this time, the motor driver 24 of the motor drive circuit board 20 is powered on and the internal monitoring module starts to work. When it is detected that the motor drive circuit board 20 system is normal, the motor driver 24 operates normally and controls the power module not to power on, reducing the power consumption of the whole machine. When the CAN bus receives the flight control signal output by the flight controller 33, the motor driver 24 controls the power module and the motor 400 to power on and enter the working state. At the same time, the motor driver 24 obtains the speed and position information of the motor 400 through the encoder interface 25, and controls the attitude, position and speed of the mobile device to realize autonomous navigation and obstacle avoidance flight, otherwise the system will report an error and not run. The motor driver 24 adopts a sensed FOC control algorithm, which makes the operation of the motor 400 more energy-saving. At the same time, the control of the motor 400 is more sensitive, so that the mobile device has higher maneuverability.

[0078] The power on or off of the flight control circuit board 30 is controlled by the on-off control of the second controllable power switch of the battery management circuit 15. When the second controllable power switch outputs power normally, the internal standby power supply on the flight control circuit board 30 starts to work, the CAN bus starts to work, and a communication connection is established between the motor drive circuit board 20 and the flight control circuit board 30. At this time, the main processor 32 of the flight control circuit board 30 is powered on and the internal monitoring module works to monitor the working status of the flight controller 33. When the system is detected to be normal, it runs normally and enters the working state, otherwise the system reports an error and does not run.

[0079] After the main processor 32 enters the working state, it controls each sampling device 500 to work and collect data through the data interface 31 to obtain the environmental data and posture data of the mobile device. The environmental data includes parameter data or image data such as smoke, dust, obstacles, etc., and the posture data may include position data, posture data, and speed data.

[0080] At the same time, the flight control circuit board 30 has an integrated attitude sensor, which is used to feedback the attitude of the entire mobile device. At the same time, all data is transmitted to the main processor 32 in the flight control circuit board 30 through the board-level high-speed internal bus. The main processor 32 performs autonomous navigation route planning and obstacle avoidance control based on artificial intelligence algorithm processing, and triggers the flight controller 33 to output a corresponding flight control signal. The flight control signal is output to the motor driver 24 through the CAN bus. The motor driver 24 drives the motor 400 to rotate, thereby realizing the speed, attitude and position control of the mobile device, and realizing autonomous navigation and obstacle avoidance flight.

[0081] Furthermore, the flight controller 33 can also be connected to the wireless module, and the flight controller 33 can build its own wireless local area network through the wireless module for storing and transmitting key data of the mobile device.

[0082] In order to realize the input control of the power supply battery 200, further, as Figure 3 As shown, in an optional embodiment, a safety switch 16 is further provided on the battery management circuit board 10, and the safety switch 16 is connected between the battery management circuit 15 and the battery interface 11;

[0083] The safety switch 16 is triggered to switch on and off the power between the battery and the battery management circuit 15.

[0084] In this embodiment, when the power supply battery 200 is normally inserted into the battery interface 11, when the safety switch 16 is normally turned on, the battery management circuit 15 is powered on, and the standby power module in the battery management circuit 15 starts working. The standby power module is connected to the button interface 12 and detects the switch state of the power button 300.

[0085] When the safety switch 16 is turned off, the battery management circuit 15 is powered off and the battery management circuit board 10 is not powered on.

[0086] The safety switch 16 may be a push button switch, a touch switch or the like.

[0087] In order to upgrade the battery management circuit 15 on the battery management circuit board 10, in an optional embodiment, as shown in FIG. Figure 4 As shown, the battery management circuit board 10 is also provided with a communication interface 17 and a software upgrade interface 18;

[0088] The communication interface 17 is used to connect to the external communication device 600. The battery management circuit 15 also communicates with the external communication device 600 through the communication interface 17.

[0089] The software upgrade interface 18 is used to connect to the external upgrade device 700. The battery management circuit 15 is also connected to the external upgrade device 700 through the software upgrade interface 18 to perform software upgrade.

[0090] In this embodiment, the battery management circuit 15 is connected to the external communication device 600 through the communication interface 17 to achieve interconnection communication between devices. At the same time, the battery management circuit 15 can also perform software upgrades through the external upgrade device 700, such as version upgrades, bug repairs, etc.

[0091] The main processor 32 may use a corresponding processing chip, such as a CPU chip 321, an MCU chip, etc. In an optional embodiment, Figure 6 As shown, the main processor 32 includes a CPU chip 321 and a GPU chip 322, the CPU chip 321 is used for performing logic operations, and the GPU chip 322 is used for performing image processing;

[0092] The main processor 32 processes the acquired environmental data and posture data of the mobile device through the GPU chip 322 and the CPU chip 321, performs autonomous navigation route planning and obstacle avoidance control, and triggers the flight controller 33 to output corresponding flight control signals.

[0093] In this embodiment, the main processor 32 uses a GPU chip 322 and a CPU chip 321. The GPU chip 322 and the CPU chip 321 perform image processing and logic operations respectively, thereby improving the computing and processing capabilities of the main processor 32 and completing the main data processing work of the flight control circuit board 30. The main processor 32 controls the operation of each sampling device 500 through the data interface 31 and performs data collection to obtain environmental data and posture data of the mobile device. The environmental data includes parameter data or image data such as smoke, dust, and obstacles. The posture data may include position data, posture data, and speed data.

[0094] All data are transmitted to the GPU chip 322 and the CPU chip 321 in the flight control circuit board 30 through the board-level internal bus. The GPU chip 322 and the CPU chip 321 perform autonomous navigation route planning and obstacle avoidance control based on artificial intelligence algorithm processing. One of the GPU chip 322 and the CPU chip 321 outputs a trigger signal to trigger the flight controller 33 to output a corresponding flight control signal. The flight control signal is output to the motor drive circuit board 20 through the CAN bus to drive the motor to rotate, thereby realizing the speed, attitude and position control of the mobile device and realizing autonomous navigation and obstacle avoidance flight.

[0095] The data interface 31 is used to obtain environmental data, posture data, etc. Different types of data interfaces 31 can be configured according to different data types to connect different types of sampling devices 500. In an optional embodiment, Figure 6 As shown, the data interface 31 includes a high-speed interface 311, a storage interface 312, a network port 313 and a sensor interface 314;

[0096] A high-speed interface 311, used to connect to a high-speed device 510 and obtain external image information;

[0097] Storage interface 312, used to connect to storage device 520 and store data;

[0098] Network port 313, used to connect to high-speed network device 530;

[0099] The sensor interface 314 is used to connect to the sensor 540 and obtain external environment parameters.

[0100] In this embodiment, the high-speed device 510 may be a navigation device, an aerial photography device, an infrared camera, etc., which is used to obtain external image information of the mobile device. The storage device 520 may be an SD card, a USB flash drive, etc., which is used to store relevant data. The high-speed network device 530 may be a laser radar, a WiFi module, etc. The laser radar is used to measure the obstacles in the moving direction of the mobile device to achieve autonomous navigation and obstacle avoidance. The WiFi module is used to establish a wireless network.

[0101] The sensor 540 may include a smoke sensor, a dust sensor, an ultrasonic sensor, and the like.

[0102] In an optional embodiment, in order to avoid abnormal operation caused by accidental power failure of the power supply battery 200 when the flight control circuit board 30 is powered on, in an optional embodiment, as Figure 7 As shown, the flight control circuit board 30 is also provided with an auxiliary power interface 315 , and the auxiliary power interface 315 is used to connect the auxiliary battery 550 .

[0103] When the power supply battery 200 is working normally, the flight controller 33 will work normally. First, the auxiliary battery 550 will enter the charging working state. When the power supply battery 200 loses power unexpectedly, the auxiliary battery 550 will enter the discharging working state to maintain the flight control circuit board 30 to continue working and save data. Ensure that the flight data is not lost and reliable. The auxiliary battery 550 is a small-capacity battery that can provide power to the mobile device to establish a network and realize data backhaul when it is unable to return.

[0104] Furthermore, if Figure 7 As shown, in an optional embodiment, a debugging interface 316 is also provided on the flight control circuit board 30, so that the flight controller 33 can be connected to the debugging device 560 through the debugging interface 316 and perform system debugging.

[0105] In this embodiment, the debugging device 560 is connected to the flight controller 33 via the debugging interface 316 and debugs the flight controller 33, such as operating mode debugging, parameter debugging, etc.

[0106] Compared with the prior art, the beneficial effects of the embodiments of the utility model are as follows: the control module of the mobile device comprises a battery management circuit board 10, a motor drive circuit board 20 and a flight control circuit board 30 which are stacked in sequence, and the boards are connected via a communication bus, a communication interface and a power bus. The control module of the mobile device has a high degree of integration, simple wiring and a low error rate. The battery management circuit board 10 is responsible for the upper and lower power control, and can monitor and manage the power consumption of the entire control module. The flight control circuit board 30 is provided with a main processor 32, a flight controller 33 and a plurality of data interfaces, and can flexibly connect different sampling devices. The main processor 32, as an artificial intelligence computing power platform, can run artificial intelligence algorithms for autonomous navigation planning and obstacle avoidance control, and trigger the flight controller 33 to output corresponding flight control signals according to the data obtained by the sampling device. The motor drive circuit board 20 is used to drive the motor according to the output signal of the flight controller 33, thereby controlling the attitude, position and speed of the mobile device, and realizing autonomous obstacle avoidance flight.

[0107] The utility model also proposes a mobile device, which includes a control module 100 of the mobile device. The specific structure of the control module 100 of the mobile device refers to the above-mentioned embodiment. Since the mobile device adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0108] In this embodiment, the mobile device may be a drone, a mobile robot or the like.

[0109] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A control module for a mobile device, characterized in that: It includes a battery management circuit board, a motor drive circuit board and a flight control circuit board which are stacked in sequence; The battery management circuit board is connected to the motor drive circuit board and the flight control circuit board respectively through a power bus, each circuit board is provided with a communication interface, and each circuit board realizes uplink and downlink cascading of the circuit board through the communication interface and the communication bus; The battery management circuit board is also provided with a button interface and a battery interface, wherein the button interface is used to connect the power button, and the battery interface is used to connect the power supply battery. The battery management circuit board is triggered by the trigger instruction of the power button to control the motor drive circuit board and the flight control circuit board to power on or off; The motor drive circuit board is also provided with a motor interface for connecting the motor. The motor drive circuit board is controlled by the power signal output by the battery management circuit board and the flight control signal output by the flight control circuit board and triggers and controls the rotation of the motor to control the attitude, position and speed of the mobile device to achieve autonomous navigation and obstacle avoidance. The flight control circuit board is also provided with a main processor, a flight controller and a data interface for connecting different sampling devices. The main processor is used to obtain the environmental data and attitude data of the mobile device through the data interface and perform autonomous navigation route planning and obstacle avoidance control, and trigger the flight controller to output the corresponding flight control signal.

2. The control module of the mobile device according to claim 1, characterized in that: The communication interface on the battery management circuit board includes a first communication interface and a second communication interface, the first communication interface is used to cascade with the next level module, and the second communication interface is connected to the communication interface of the motor drive circuit board through a communication bus; The battery management circuit board is also provided with a battery management circuit, and the battery management circuit is respectively connected to the power bus, the first communication interface, the second communication interface, the battery interface and the key interface; The battery management circuit is used to cascade communicate with the next-level module through the first communication interface and to cascade communicate with the motor drive circuit board through the second communication interface, and to control the motor drive circuit board and the flight control circuit board to power on or off in response to the trigger instruction of the power on / off button.

3. The control module of the mobile device according to claim 2, characterized in that: The battery management circuit board is also provided with a safety switch, and the safety switch is connected between the battery management circuit and the battery interface; The safety switch is triggered by a triggering operation to turn on and off the power supply between the battery and the battery management circuit.

4. The control module of the mobile device according to claim 2, characterized in that: The battery management circuit board is also provided with a communication interface and a software upgrade interface; The communication interface is used to connect to an external communication device, and the battery management circuit is also connected to communicate with the external communication device through the communication interface; The software upgrade interface is used to connect to an external upgrade device. The battery management circuit is also connected to the external upgrade device through the software upgrade interface to perform software upgrade.

5. The control module of the mobile device according to claim 1, characterized in that: The communication interface of the motor drive circuit board includes a third communication interface and a fourth communication interface, the third communication interface is connected to the second communication interface of the battery management circuit board through a communication bus, and the fourth communication interface is connected to the fifth communication interface on the flight control circuit board through a communication bus; The motor drive circuit board is also provided with a motor driver and an encoder interface; The motor driver is respectively connected to the power bus, the third communication interface, the fourth communication interface, the motor interface and the encoder interface, and the encoder interface is used to connect the motor and obtain the speed and position information of the motor; The motor driver is used to communicate with the battery management circuit board and the flight control circuit board through the third communication interface and the fourth communication interface respectively, and to control the rotation of the motor by being triggered by the power signal output by the battery management circuit board, the flight control signal output by the flight control circuit board, and the speed and position information of the motor, so as to control the attitude, position and speed of the mobile device and realize autonomous navigation and obstacle avoidance.

6. The control module of the mobile device according to claim 1, characterized in that: The main processor includes a CPU chip and a GPU chip, the CPU chip is used for performing logic operations, and the GPU chip is used for performing image processing; The communication interface on the flight control circuit board includes a fifth communication interface and a sixth communication interface, the fifth communication interface is connected to the fourth communication interface of the motor drive circuit board through a communication bus, and the sixth communication interface is used for cascading with the next level module; The main processor processes the acquired environmental data and posture data of the mobile device through the GPU chip and the CPU chip, performs autonomous navigation route planning and obstacle avoidance control, and triggers the flight controller to output the corresponding flight control signal.

7. The control module of the mobile device according to claim 6, characterized in that: The data interface includes a high-speed interface, a storage interface, a network port and a sensor interface; The high-speed interface is used to connect to a high-speed device and obtain external image information; The storage interface is used to connect to a storage device and store data; Network port, used to connect high-speed network equipment; Sensor interface, used to connect sensors and obtain external environmental parameters.

8. The control module of the mobile device according to claim 6, characterized in that: The flight control circuit board is also provided with an auxiliary power supply interface, and the auxiliary power supply interface is used to connect an auxiliary battery.

9. The control module of the mobile device according to claim 6, characterized in that: The flight control circuit board is also provided with a debugging interface, which is used for the flight controller to connect to a debugging device through the debugging interface and perform system debugging.

10. A mobile device, characterized in that: A control module comprising the mobile device as claimed in any one of claims 1 to 9.

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