Master control device and carrier

Abstract

The utility model provides a master control device and a carrier, the master control device comprises a master control circuit board, a master control unit and a plurality of module interfaces, the master control unit and the module interfaces are both arranged on the master control circuit board, the master control device further comprises a power supply voltage conversion module and a power supply input interface, the power voltage conversion module and the power input interface are both arranged on the main control circuit board, the power supply voltage input end of the main control unit is electrically connected with the main control voltage output end of the power voltage conversion module, and the input end of the power voltage conversion module is electrically connected with the power input interface. The plurality of module voltage output ends of the power supply voltage conversion module are electrically connected with the plurality of module interfaces respectively. According to the utility model, the power supply voltage conversion module is directly integrated on the main control circuit board of the main control device, so that the power supply voltage conversion module for realizing voltage reduction does not need to be independently arranged at other positions of the carrier, the number of cables in the carrier is reduced, the wiring space is saved, and the space utilization rate is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a main control device and a transport vehicle comprising the main control device. Background Art

[0002] Automated Guided Vehicles (AGVs), also known as automated guided transport vehicles (AGVs) and automated guided trucks (AGVs), are one of the primary equipment used in factories to achieve automated material transportation. With the increasing number of automated guided vehicle applications, the performance requirements for AGVs in production workshops, warehouses, and other application scenarios are also increasing. AGVs are typically composed of multiple functional modules. Due to factors such as inconsistent device sizes, these modules are typically arranged as independent components inside the vehicle body, occupying a large amount of space inside the AGV. Furthermore, the number of connecting wires between modules is large and the wiring is complex, resulting in low overall reliability of the AGV and hindering production assembly and after-sales maintenance.

[0003] Therefore, how to improve the space utilization inside the automatic guided vehicle and simplify the wiring to improve the overall reliability of the guided vehicle and the convenience of manufacturing and maintenance has become a technical problem that needs to be solved urgently in this field. Utility Model Content

[0004] The present invention aims to solve one of the technical problems in the related art to a certain extent. To this end, the present invention provides a main control device and a transport vehicle including the main control device, which can reduce the number of cables inside the transport vehicle and save wiring space, thereby improving the utilization rate of the interior space of the transport vehicle.

[0005] To achieve the above-mentioned purpose, as one aspect of the present invention, a main control device for a transport vehicle is provided, wherein the main control device includes a main control circuit board, a main control unit and multiple module interfaces, the main control unit and the module interfaces are both arranged on the main control circuit board, the main control device also includes a power supply voltage conversion module and a power input interface, the power supply voltage conversion module and the power input interface are both arranged on the main control circuit board, the power supply voltage input end of the main control unit is electrically connected to the main control voltage output end of the power supply voltage conversion module, the input end of the power supply voltage conversion module is electrically connected to the power input interface, and the multiple module voltage output ends of the power supply voltage conversion module are respectively electrically connected to the multiple module interfaces.

[0006] Optionally, the module interface is an Ethernet interface, a Controller Area Network (CAN) bus interface, or a Universal Serial Bus (USB) interface.

[0007] Optionally, the multiple module interfaces include multiple communication interfaces and multiple control interfaces, and the multiple module voltage output ends of the power supply voltage conversion module include multiple communication interface voltage output ends corresponding to the multiple communication interfaces and multiple control interface output ends corresponding to the multiple control interfaces.

[0008] Optionally, the main control unit is a central processing unit (CPU).

[0009] Optionally, the power voltage conversion module can convert the voltage input from the power input interface into a preset voltage and output the voltage to the main control voltage output terminal.

[0010] Optionally, the preset voltage is not higher than 24V.

[0011] Optionally, the power voltage conversion module is further configured to obtain battery power information through the power input interface and send the battery power information to the main control unit.

[0012] Optionally, the main control device also includes a charging communication interface arranged on the main control circuit board, and the transport vehicle is provided with a charging interface. The charging communication interface is used to connect to the charging interface, and the charging interface includes charging contacts or charging plugs, and can be electrically connected to the charging pile by contact or plugging. The main control unit is also used to send a control signal to the charging interface through the charging communication interface, so that the charging interface connects the battery to the charging pile.

[0013] Optionally, the control interface includes a display output interface arranged on the main control circuit board, the display signal output end of the main control unit is electrically connected to the display output interface, and the main control unit is also used to output a display control signal to the display signal output end to control the display screen connected to the display output interface to display the corresponding picture.

[0014] Optionally, the display output interface is a Type-C interface.

[0015] Optionally, the main control device also includes at least one image sensing module, which is arranged on the main control circuit board. The image sensing module is used to take pictures of the outside of the main control device and identify the identification code in the photo to obtain code reading information. The main control unit is also used to determine the current position of the transport vehicle based on the code reading information.

[0016] Optionally, the image sensing module includes an upper image sensing module and a lower image sensing module, the main control circuit board includes a top circuit board and a bottom circuit board, the top circuit board and the bottom circuit board are electrically connected through a connector, the upper image sensing module is arranged on the top circuit board, and is used to take a picture of the side of the top circuit board facing away from the bottom circuit board, and the lower image sensing module is arranged on the bottom circuit board, and is used to take a picture of the side of the bottom circuit board facing away from the top circuit board.

[0017] Optionally, a domain control device is provided on at least one side of the transport vehicle, and the domain control device is used to receive sensor data from sensors on the corresponding side of the transport vehicle. The multiple module interfaces include at least one domain control interface, and the domain control interface is used to connect to the domain control device.

[0018] Optionally, the domain control interface is an Ethernet interface, a controller area network bus interface or a universal serial bus interface.

[0019] Optionally, the domain control interface is a dual-channel controller area network bus interface.

[0020] Optionally, the power input interface is an Ethernet interface, a controller area network bus interface or a universal serial bus interface.

[0021] Optionally, the main control unit is arranged on the bottom circuit board, and the power supply voltage conversion module is arranged on the top circuit board.

[0022] Optionally, the motor control interface is an Ethernet interface, a controller area network bus interface or a universal serial bus interface.

[0023] Optionally, the multiple module interfaces include at least one radar interface, and the radar interface is used to connect to a laser radar.

[0024] Optionally, the radar interface is an Ethernet interface, a controller area network bus interface or a universal serial bus interface.

[0025] Preferably, the radar interface is an Ethernet interface.

[0026] Optionally, the multiple module interfaces further include a binocular camera interface, and the binocular camera interface is used to connect to a binocular camera.

[0027] Optionally, the binocular camera interface is an Ethernet interface, a controller area network bus interface or a universal serial bus interface.

[0028] As a second aspect of the present invention, a transport vehicle is provided, comprising a vehicle body, a main control device and a battery. The main control device is the main control device provided in an embodiment of the present invention, and a power input interface of the main control device is connected to the battery.

[0029] Optionally, a domain control device is provided on at least one side of the transport vehicle, and the domain control device is used to receive sensor data from a sensor on the corresponding side of the transport vehicle; the multiple module interfaces of the main control device include at least one domain control interface, and the domain control interface is used to connect to the domain control device;

[0030] At least one of the domain control devices includes a display screen, and the main control device also includes a display output interface arranged on the main control circuit board, and the display output interface is connected to the display screen. The main control unit is also used to output a display control signal through the display output interface to control the display screen to display the corresponding picture.

[0031] Optionally, the transport vehicle further includes a power distribution module, and the power input interface of the main control device and the domain control device are both connected to the battery through the power distribution module.

[0032] Optionally, the vehicle body includes a chassis, a load-bearing platform, and a lifting assembly connected between the chassis and the load-bearing platform; the main control device is further used to control the lifting assembly to drive the load-bearing platform to move in a direction close to or away from the chassis; the main control circuit board of the main control device is arranged in the chassis; the traveling wheel is arranged on a side of the chassis away from the load-bearing platform; the side of the chassis away from the load-bearing platform has a bottom avoidance opening, and the load-bearing platform has a top avoidance hole;

[0033] The image sensing module includes an upper image sensing module and a lower image sensing module. The main control circuit board includes a top circuit board and a bottom circuit board. The top circuit board and the bottom circuit board are electrically connected to each other. The upper image sensing module is arranged on the top circuit board and is used to take a picture of the side of the top circuit board facing away from the bottom circuit board through the top avoidance hole. The lower image sensing module is arranged on the bottom circuit board and is used to take a picture of the side of the bottom circuit board facing away from the top circuit board through the bottom avoidance hole.

[0034] Optionally, the transport vehicle also includes multiple traveling wheel modules, each of which includes a traveling wheel, a motor driver, a motor and an axle housing. The motor driver and the motor are both arranged in the axle housing. The motor driver is used to control the motor to drive the traveling wheel to rotate. The motor driver includes a driving circuit board and at least one signal interface arranged on the driving circuit board. The signal interface is electrically connected to the motor control interface of the main control device through a motor signal cable.

[0035] Optionally, the motor signal cable is sealed and connected to the signal interface.

[0036] In the present invention, the main control device is the core controller of the transport truck, which is used to realize the position feedback, driving control and motion control functions of the transport truck, that is, the main control unit receives sensor signals fed back by various sensors and other modules through multiple module interfaces to determine the current environmental information and position information of the transport truck. The warehouse control platform plans the driving path of the transport truck according to the environmental information and position information reported by the main control unit and sends path planning instructions to the main control device of the transport truck. The main control device outputs motor control signals through the motor control interface in real time to control the speed of each traveling wheel of the transport truck (for example, it can realize straight driving by controlling the synchronous rotation of the traveling wheels on both sides of the transport truck or realizing turning by controlling the differential rotation of the traveling wheels on both sides of the transport truck), thereby controlling the transport truck to travel to the destination along the corresponding path; the main control device is also used to control the action execution module to complete the carrying action and lifting action to realize the function of picking up and placing the material box.

[0037] At the same time, the power supply voltage conversion module in the utility model is directly integrated on the main control circuit board of the main control device, so there is no need to separately set up a power supply voltage conversion module for achieving voltage reduction at other positions of the transport vehicle, thereby reducing the number of cables inside the transport vehicle and saving wiring space, while improving the utilization rate of the internal space of the transport vehicle, ensuring the overall reliability of the transport vehicle, and improving the efficiency of the production, assembly and maintenance of the transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further described below with reference to the accompanying drawings:

[0039] Figure 1 It is a structural diagram of the main control device provided by an embodiment of the present utility model;

[0040] Figure 2 It is a schematic diagram of the internal structure of the driving wheel axle housing of the traveling wheel module in the transport vehicle provided by an embodiment of the present utility model.

[0041] Description of reference numerals:

[0042] Main control circuit board 10. DETAILED DESCRIPTION

[0043] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to explain the present invention and are not to be construed as limiting the present invention.

[0044] References in this specification to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0045] In order to solve the above technical problems, as one aspect of the present invention, a main control device for a transport vehicle (i.e., an automatic guided vehicle) is provided. Figure 1 As shown, the main control device includes a main control circuit board 10, a main control unit and multiple module interfaces. The main control unit and the module interfaces are both arranged on the main control circuit board 10. The main control device also includes a power supply voltage conversion module and a power input interface. The power supply voltage conversion module and the power input interface are both arranged on the main control circuit board 10. The power supply voltage input end of the main control unit is electrically connected to the main control voltage output end of the power supply voltage conversion module, the input end of the power supply voltage conversion module is electrically connected to the power input interface, and the multiple module voltage output ends of the power supply voltage conversion module are respectively electrically connected to the multiple module interfaces.

[0046] It can be understood that the power voltage conversion module is used to connect to the battery of the transport vehicle through the power input interface, and to reduce the battery voltage to a preset voltage suitable for modules such as the main control unit (for example, the 48V voltage output by the battery is reduced to 24V that can be directly used by the main control unit and its connected sensors and other modules).

[0047] In the present invention, the main control device is the core controller of the transport truck, which is used to realize the position feedback, driving control and motion control functions of the transport truck, that is, the main control unit receives sensor signals fed back by various sensors and other modules through multiple module interfaces to determine the current environmental information and position information of the transport truck. The warehouse control platform plans the driving path of the transport truck according to the environmental information and position information reported by the main control unit and sends path planning instructions to the main control device of the transport truck. The main control device outputs motor control signals in real time to control the speed of each traveling wheel of the transport truck (for example, it can realize straight driving by controlling the synchronous rotation of the traveling wheels on both sides of the transport truck or realize turning by controlling the differential rotation of the traveling wheels on both sides of the transport truck), and then control the transport truck to travel along the corresponding path to the destination; the main control device is also used to control the action execution module to complete the carrying action and lifting action to realize the function of picking up and placing the material box.

[0048] At the same time, a power supply voltage conversion module and a power input interface are also provided on the main control circuit board 10, that is, the power supply voltage conversion module in the utility model is directly integrated on the main control circuit board 10 of the main control device, so that there is no need to separately set a power supply voltage conversion module for achieving voltage reduction at other positions of the transport vehicle, thereby reducing the number of cables inside the transport vehicle and saving wiring space, while improving the utilization rate of the internal space of the transport vehicle, ensuring the overall reliability of the transport vehicle, and improving the operational efficiency of the production, assembly and maintenance of the transport vehicle.

[0049] As an optional embodiment of the present invention, the multiple module interfaces include multiple communication interfaces (i.e. Figure 1 Multiple interface structures in the left dashed box) and multiple control interfaces (i.e. Figure 1 Multiple interface structures in the dotted box on the right side), the multiple module voltage output ends of the power voltage conversion module include multiple communication interface voltage output ends corresponding to the multiple communication interfaces and multiple control interface output ends corresponding to the multiple control interfaces.

[0050] As an optional implementation of the present invention, the types of module interfaces may include an Ethernet interface, a Controller Area Network (CAN) bus interface, or a Universal Serial Bus (USB) interface.

[0051] As an optional implementation of the present invention, the main control unit is a central processing unit (CPU).

[0052] Alternatively, in other embodiments of the present invention, the main control unit may also be an SOC.

[0053] As an optional implementation of the present invention, the preset voltage is no higher than 24V.

[0054] As an optional implementation manner of the present invention, the power voltage conversion module is further configured to obtain battery power information through the power input interface and send the battery power information to the main control unit.

[0055] As an optional embodiment of the present invention, Figure 1 As shown, the main control device also includes a charging communication interface arranged on the main control circuit board 10. The transport vehicle is provided with a charging interface. The charging communication interface is used to connect to the charging interface. The charging interface includes charging contacts or charging plugs, and can be electrically connected to the charging pile by contact or plugging. The main control unit is also used to send a control signal to the charging interface through the charging communication interface so that the charging interface connects the battery and the charging pile.

[0056] As an optional embodiment of the present invention, Figure 1 As shown, the control interface includes a display output interface arranged on the main control circuit board 10, and the display signal output end of the main control unit is electrically connected to the display output interface. The main control unit is also used to output a display control signal to the display signal output end to control the display screen connected to the display output interface to display the corresponding picture, thereby facilitating the operator to view the transport vehicle information in real time.

[0057] The embodiment of the present utility model does not specifically limit the content of the screen displayed on the display screen controlled by the main control unit. For example, the display screen may include real-time image data of the sensor (such as lidar data, image information of a binocular camera, etc.), map information, operation interface, status alarm and other information.

[0058] Optionally, the display screen may be an LCD display screen.

[0059] As an optional implementation of the present invention, the display output interface is a Type-C interface.

[0060] As an optional embodiment of the present invention, Figure 1 As shown, the main control device also includes at least one code reading camera (including an upper image sensor module and a lower image sensor module). The image sensor module is arranged on the main control circuit board 10. The image sensor module is used to take pictures of the outside of the main control device and identify the identification code in the picture to obtain code reading information. The main control unit is also used to determine the current position of the transport vehicle based on the code reading information to ensure the position accuracy of the transport vehicle.

[0061] As a preferred embodiment of the present invention, Figure 1 As shown, the image sensing module includes an upper image sensing module and a lower image sensing module, the main control circuit board 10 includes a top circuit board and a bottom circuit board, the top circuit board and the bottom circuit board are electrically connected through a connector, the upper image sensing module is arranged on the top circuit board, and is used to take a picture of the side of the top circuit board facing away from the bottom circuit board, and the lower image sensing module is arranged on the bottom circuit board, and is used to take a picture of the side of the bottom circuit board facing away from the top circuit board.

[0062] It can be understood that the top circuit board and the bottom circuit board are spaced apart in the height direction under normal use, and the top circuit board is located above the bottom circuit board. In an embodiment of the utility model, the main control circuit board 10 includes a top circuit board and a bottom circuit board, and the two circuit boards are spliced ​​into one through a connector, so that the upper image sensor module and the lower image sensor module are integrated into the main control circuit board 10, further reducing the number of cables and improving the internal space utilization of the transport vehicle. At the same time, the multi-layer circuit board structure is used to ensure the integration of the main control circuit board 10, reduce the lateral space volume of the main control circuit board 10, and further ensure the compactness of the transport vehicle structure.

[0063] As an optional implementation manner of the present invention, the main control unit is arranged on the bottom circuit board, and the power supply voltage conversion module is arranged on the top circuit board.

[0064] As an optional embodiment of the present invention, a domain control device is provided on at least one side of the transport vehicle, and the domain control device is used to receive sensor data from sensors on the corresponding side of the transport vehicle, such as Figure 1 As shown, the multiple module interfaces include at least one domain control interface, which is used to connect to the domain control device. The domain control device is used to be set on one side of the transport vehicle and collect feedback signals from various sensors on the transport vehicle (such as ranging sensors), and integrate all signals and send them to the main control device so that the main control device can realize the navigation function.

[0065] As an optional embodiment of the present invention, Figure 1 As shown, a domain control module is respectively provided on both sides of the transport vehicle, and correspondingly, the multiple module interfaces include a first domain control interface and a second domain control interface.

[0066] As an optional implementation manner of the present invention, the domain control interface is an Ethernet interface, a controller area network (CAN) bus interface, or a universal serial bus (USB) interface.

[0067] In order to ensure the reliability of the transport vehicle sensor signal, as a preferred embodiment of the present invention, the domain control interface is a dual-channel controller local area network bus interface.

[0068] As an optional implementation manner of the present utility model, the power input interface is an Ethernet interface, a controller area network bus interface or a universal serial bus interface.

[0069] As an optional embodiment of the present invention, Figure 1 As shown, the multiple module interfaces also include multiple motor control interfaces, and the main control unit is used to output motor control signals through the motor control interfaces to control the rotation speed of each traveling wheel of the transport vehicle.

[0070] As an optional implementation manner of the present invention, the motor control interface is an Ethernet interface, a controller area network bus interface or a universal serial bus interface.

[0071] As an optional embodiment of the present invention, Figure 1 As shown, the multiple module interfaces include at least one radar interface, which is used to connect to a lidar.

[0072] As an optional implementation of the present invention, the radar interface is an Ethernet interface, a controller area network bus interface or a universal serial bus interface.

[0073] Preferably, the radar interface is an Ethernet interface to ensure the rate at which the main control unit receives the radar imaging signal.

[0074] As an optional embodiment of the present invention, Figure 1 As shown, the multiple module interfaces also include a binocular camera interface, which is used to connect to a binocular camera.

[0075] As an optional implementation of the present invention, the binocular camera interface is an Ethernet interface, a controller area network bus interface or a universal serial bus interface.

[0076] As a second aspect of the present invention, a transport vehicle is provided, comprising a vehicle body, a main control device and a battery. The main control device is the main control device provided in an embodiment of the present invention, and a power input interface of the main control device is connected to the battery.

[0077] In the transport vehicle provided by the present invention, the power supply voltage conversion module is directly integrated on the main control circuit board 10 of the main control device, so that there is no need to separately set up a power supply voltage conversion module for achieving voltage reduction at other positions of the transport vehicle, thereby reducing the number of cables inside the transport vehicle and saving wiring space, while improving the utilization rate of the internal space of the transport vehicle, ensuring the overall reliability of the transport vehicle, and improving the operational efficiency of the production, assembly and maintenance of the transport vehicle.

[0078] As an optional embodiment of the present invention, a domain control device is provided on at least one side of the transport vehicle, and the domain control device is used to receive sensor data from the sensor on the corresponding side of the transport vehicle; the multiple module interfaces of the main control device include at least one domain control interface, and the domain control interface is used to connect to the domain control device;

[0079] At least one domain control device includes a display screen, and the main control device also includes a display output interface arranged on the main control circuit board 10, the display output interface is connected to the display screen, and the main control unit is also used to output a display control signal through the display output interface to control the display screen to display the corresponding picture.

[0080] As an optional implementation of the present invention, the transport vehicle further includes a power distribution module, and the power input interface of the main control device and the domain control device are both connected to the battery through the power distribution module.

[0081] As an optional embodiment of the present invention, the vehicle body includes a chassis, a load-bearing platform, and a lifting assembly connected between the chassis and the load-bearing platform. The main control device is further used to control the lifting assembly to drive the load-bearing platform to move in a direction close to or away from the chassis. The main control circuit board 10 of the main control device is arranged in the chassis. The traveling wheels are arranged on the side of the chassis away from the load-bearing platform. The side of the chassis away from the load-bearing platform has a bottom avoidance opening, and the load-bearing platform has a top avoidance hole.

[0082] The image sensing module includes an upper image sensing module and a lower image sensing module. The main control circuit board 10 includes a top circuit board and a bottom circuit board. The top circuit board and the bottom circuit board are electrically connected to each other. The upper image sensing module is arranged on the top circuit board and is used to take a picture of the side of the top circuit board facing away from the bottom circuit board through the top avoidance hole. The lower image sensing module is arranged on the bottom circuit board and is used to take a picture of the side of the bottom circuit board facing away from the top circuit board through the bottom avoidance hole.

[0083] As an optional embodiment of the present invention, the transport vehicle also includes multiple traveling wheel modules, the traveling wheel modules include traveling wheels, motor drivers, motors and axle housings, the motor drivers and motors are both arranged in the axle housing, the motor driver is used to control the motor to drive the traveling wheels to rotate, the motor driver includes a driving circuit board and at least one signal interface arranged on the driving circuit board, the signal interface is electrically connected to the motor control interface of the main control device through a motor signal cable.

[0084] In order to ensure the waterproof performance of the axle housing, as a preferred embodiment of the present invention, the motor signal cable is sealed and connected to the signal interface. Specifically, the plug of the motor signal cable is covered with a sealing rubber plug, which can seal the gap between the plug of the motor signal cable and the inner wall of the signal interface.

[0085] Alternatively, as Figure 2 As shown, the motor driver further includes at least one power interface provided on the driving circuit board, and the power interface is electrically connected to the battery through a motor power cable.

[0086] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are included within the scope of the claims.

Claims

1. A main control device, comprising a main control circuit board, a main control unit, and a plurality of module interfaces, wherein the main control unit and the module interfaces are both arranged on the main control circuit board, characterized in that: The main control device also includes a power supply voltage conversion module and a power supply input interface. The power supply voltage conversion module and the power supply input interface are both arranged on the main control circuit board. The power supply voltage input end of the main control unit is electrically connected to the main control voltage output end of the power supply voltage conversion module, the input end of the power supply voltage conversion module is electrically connected to the power supply input interface, and the multiple module voltage output ends of the power supply voltage conversion module are respectively electrically connected to the multiple module interfaces.

2. The main control device according to claim 1, characterized in that: The multiple module interfaces include multiple communication interfaces and multiple control interfaces, and the multiple module voltage output ends of the power supply voltage conversion module include multiple communication interface voltage output ends corresponding to the multiple communication interfaces and multiple control interface output ends corresponding to the multiple control interfaces.

3. The main control device according to claim 2, characterized in that: The control interface includes a display output interface provided on the main control circuit board, and the display signal output end of the main control unit is electrically connected to the display output interface.

4. The main control device according to claim 1, characterized in that: The main control device further includes at least one image sensor module, and the image sensor module is arranged on the main control circuit board.

5. The main control device according to claim 4, characterized in that: The image sensing module includes an upper image sensing module and a lower image sensing module. The main control circuit board includes a top circuit board and a bottom circuit board. The top circuit board and the bottom circuit board are electrically connected via a connector. The upper image sensing module is arranged on the top circuit board and is used to take a picture of the side of the top circuit board facing away from the bottom circuit board. The lower image sensing module is arranged on the bottom circuit board and is used to take a picture of the side of the bottom circuit board facing away from the top circuit board.

6. The main control device according to claim 5, characterized in that: The main control unit is arranged on the bottom circuit board, and the power supply voltage conversion module is arranged on the top circuit board.

7. The main control device according to any one of claims 1 to 6, characterized in that: The plurality of module interfaces include at least one of the following interfaces: A radar interface, wherein the radar interface is used to connect to a laser radar; A domain control interface, the domain control interface being used to connect to a domain control device; A binocular camera interface, wherein the binocular camera interface is used to connect to a binocular camera.

8. The main control device according to any one of claims 1 to 6, characterized in that: The module interface is an Ethernet interface, a controller area network bus interface or a universal serial bus interface.

9. A transport vehicle comprising a vehicle body, a main control device and a battery, wherein the main control device and the battery are both arranged in the vehicle body, characterized in that: The main control device is the main control device according to any one of claims 1 to 8, and the power input interface of the main control device is connected to the battery.

10. The transport vehicle according to claim 9, characterized in that: The transport vehicle also includes multiple traveling wheel modules, each of which includes a traveling wheel, a motor driver, a motor, and a wheel axle housing. The motor driver and the motor are both arranged in the wheel axle housing. The motor driver is used to control the motor to drive the traveling wheel to rotate. The motor driver includes a driving circuit board and at least one signal interface arranged on the driving circuit board. The signal interface is electrically connected to the motor control interface of the main control device.

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