Full-bridge matrix driving circuit and driving device of goods channel transportation motor

Abstract

The invention discloses a full-bridge matrix driving circuit and driving device for a goods channel transportation motor. The full-bridge matrix driving circuit for the goods channel transportation motor comprises a motor matrix, a row first control module and a column first control module, the row first control module is used for controlling a first end of a row motor in the motor matrix to be at a high level, and the column first control module is used for controlling a second end of a column motor in the motor matrix to be at a low level; the second row control module is used for controlling the first end of a row motor in the motor matrix to be at a low level, and the second column control module is used for controlling the second end of a column motor in the motor matrix to be at a high level. The motor matrix can be driven to rotate positively and negatively in a full-bridge driving mode.

Description

Technical Field

[0001] The present invention relates to the technical field of motor drive circuits, and in particular to a full-bridge matrix drive circuit and a drive device for a cargo lane transport motor. Background Art

[0002] Aisle transportation can generally be applied to vending machines, which can use DC motors. At present, most of the aisle motors in vending machine products are driven by half-bridge matrices to realize the operation of the aisle motors, thereby controlling the aisle motors to complete the unidirectional movement of the aisle when the goods are shipped. For crawler-type aisle vending machines, since the aisle crawlers are equipped with product push plates to prevent the goods from slipping during shipment, and the aisles only support unidirectional movement, in the one-way transport aisles, when replenishing goods, it is necessary to manually open the buckle of the product push plate and push it to the deep end of the aisle to re-lock it before replenishing. Therefore, one-way transportation makes operation inconvenient, the product push plate needs to be opened and stuck frequently, which reduces its lifespan, the overall cost is high, the degree of automation is low, and the user experience is poor. Summary of the invention

[0003] The purpose of the present invention is to provide a full-bridge matrix drive circuit and drive device for a cargo lane transport motor, so as to solve the problems in the prior art that the matrix drive circuit used for one-way transport in the cargo lane has a low degree of automation and cannot reciprocate, resulting in inconvenient operation, high cost and poor user experience for tracked cargo lanes.

[0004] To achieve one of the above-mentioned purposes of the invention, an embodiment of the present invention provides a full-bridge matrix driving circuit for cargo lane transport motors, the full-bridge matrix driving circuit for cargo lane transport motors comprising: a motor matrix; a first row control module and a first column control module, the first row control module is used to control the first end of the row motor in the motor matrix to be high level, and the first column control module is used to control the second end of the column motor in the motor matrix to be low level; a second row control module and a second column control module, the second row control module is used to control the first end of the row motor in the motor matrix to be low level, and the second column control module is used to control the second end of the column motor in the motor matrix to be high level; the motor matrix is ​​configured as follows: the current from the first row control module to the motor or the current from the motor to the first column control module is unidirectionally conducted, and the current from the second column control module to the motor or the current from the motor to the second row control module is unidirectionally conducted.

[0005] As a further improvement of the present invention, the full-bridge matrix drive circuit of the cargo lane transport motor also includes: the row first control module includes n first transistors, the n first transistors respectively correspond to the n rows of motors in the motor matrix, and the first transistors are configured as: the gate receives a first control signal and turns on its own state, and the first control signal is used to indicate whether the motor rotates forward or reverse; the column first control module includes m second transistors, the m second transistors respectively correspond to the m columns of motors in the motor matrix, and the second transistors are configured as: the gate receives a second control signal and turns on its own state, and the second control signal is used to indicate whether the motor rotates forward or reverse.

[0006] As a further improvement of the present invention, the full-bridge matrix drive circuit of the cargo lane transport motor also includes: one end of the first transistor is connected to the power supply end, and the other end is connected to the first end of the motor; one end of the second transistor is connected to the second end of the motor, and the other end is connected to the reference ground.

[0007] As a further improvement of the present invention, the full-bridge matrix drive circuit of the cargo lane transport motor also includes: the row second control module includes n third transistors, the n third transistors respectively correspond to the n rows of motors in the motor matrix, and the third transistors are configured as: the gate receives a third control signal and turns on its own state, and the third control signal is used to indicate the reverse or forward rotation of the motor; the column second control module includes m fourth transistors, the m fourth transistors respectively correspond to the m columns of motors in the motor matrix, and the fourth transistors are configured as: the gate receives a fourth control signal and turns on its own state, and the fourth control signal is used to indicate the reverse or forward rotation of the motor.

[0008] As a further improvement of the present invention, the full-bridge matrix drive circuit of the cargo lane transport motor also includes: one end of the third transistor is connected to the reference ground, and the other end is connected to the first end of the motor; one end of the fourth transistor is connected to the second end of the motor, and the other end is connected to the power supply end.

[0009] As a further improvement of the present invention, the full-bridge matrix drive circuit of the cargo lane transport motor also includes: the anode of the first diode is connected to the first transistor, and the cathode of the first diode is connected to the first end of the motor; or the anode of the second diode is connected to the second end of the motor, and the cathode of the second diode is connected to the second transistor.

[0010] As a further improvement of the present invention, the full-bridge matrix drive circuit of the cargo lane transport motor also includes: the anode of the third diode is connected to the first end of the motor, and the cathode of the third diode is connected to the third transistor; or the anode of the fourth diode is connected to the fourth transistor, and the cathode of the fourth diode is connected to the second end of the motor.

[0011] As a further improvement of the present invention, the full-bridge matrix drive circuit of the cargo lane transport motor also includes: a fifth diode is connected between the first end of the motor and the reference ground, the anode of the fifth diode is connected to the reference ground, and the cathode is connected to the first end of the motor; or a sixth diode is connected between the second end of the motor and the reference ground, the anode of the sixth diode is connected to the reference ground, and the cathode is connected to the second end of the motor.

[0012] As a further improvement of the present invention, the full-bridge matrix drive circuit of the cargo lane transport motor also includes: a seventh diode is connected between the first end of the motor and the power supply end, the anode of the seventh diode is connected to the first end of the motor, and the cathode is connected to the power supply end; or an eighth diode is connected between the second end of the motor and the power supply end, the anode of the eighth diode is connected to the first end of the motor, and the cathode is connected to the power supply end.

[0013] The present invention also provides a driving device, which executes the full-bridge matrix driving circuit of the cargo lane transport motor as described in any one of the above items.

[0014] Compared with the prior art, the present invention has the following beneficial effects: a matrix motor is established and a full-bridge connection structure is adopted, and the motor can be controlled to rotate forward or reverse by the coordinated working of four control modules, so that it can reciprocate in the crawler aisle, avoiding the operation of manually breaking open the buckle of the commodity push plate and pushing it to the deep end of the aisle to re-lock it and then replenish the goods, which greatly reduces labor costs, enhances the degree of automation, and provides a better user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a circuit connection diagram of the motor matrix and the control module of the present invention.

[0016] Figure 2 It is a circuit connection diagram of a transistor and a motor matrix in one embodiment of the present invention.

[0017] Figure 3 It is a schematic diagram of the circuit connection between a diode and a motor in one embodiment of the present invention.

[0018] Figure 4 It is a circuit connection diagram of a diode and a motor in another embodiment of the present invention. DETAILED DESCRIPTION

[0019] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0020] Reference Figure 1As shown, in one embodiment of the present invention, a full-bridge matrix driving circuit for aisle transport motor is provided, which can be used to drive the commodity transport aisle of an automatic vending machine to achieve reciprocating motion in the aisle.

[0021] The full-bridge matrix driving circuit of the cargo lane transport motor includes a motor matrix, a first row control module, a first column control module, a second row control module, and a second column control module. The motor matrix is ​​an arrangement matrix composed of multiple motors, which is used to drive the cargo lane.

[0022] The row first control module is used to control the first end M1 of the row motor in the motor matrix to be at a high level, and the column first control module is used to control the second end M2 of the column motor in the motor matrix to be at a low level.

[0023] The row second control module is used to control the first end M1 of the row motor in the motor matrix to be at a low level, and the column second control module is used to control the second end M2 of the column motor in the motor matrix to be at a high level.

[0024] In one embodiment, the motor matrix is ​​configured as follows: the current from the first control module in the row to the motor is unidirectionally conducted, and the current from the motor to the second control module in the row is unidirectionally conducted.

[0025] In one embodiment, the motor matrix is ​​configured as follows: the current from the motor to the first control module in the column is unidirectionally conducted, and the current from the second control module in the column to the motor is unidirectionally conducted.

[0026] In this way, the full-bridge connection structure with the motor matrix is ​​built by using the first row control module and the first column control module as well as the second row control module and the second column control module, and the motor is driven to operate based on the first row control module and the first column control module; the motor can also be driven to operate based on the second row control module and the second column control module; to achieve the forward and reverse rotation of the motor, and it can reciprocate in the crawler aisle, avoiding the operation of manually breaking the buckle of the commodity push plate and pushing it to the deep end of the aisle to re-stuck it and then replenishing the goods, which greatly reduces the labor cost, enhances the degree of automation, and provides a better user experience. In addition, the motor matrix is ​​configured as a one-way conduction to prevent other motors from being disturbed by the control signal and operating.

[0027] It should be noted that the first row control module and the first column control module may be signal modules indicating forward rotation of the motor; the second row control module and the second column control module may be signal modules indicating reverse rotation of the motor.

[0028] The row first control module is used to control the first end M1 of the row motor in the motor matrix to a high level, and the column first control module is used to control the second end M2 of the column motor in the motor matrix to a low level. At this time, the current flows from the first end M1 of the motor to the second end M2, and the motor rotates forward.

[0029] The row second control module is used to control the first end M1 of the row motor in the motor matrix to a low level, and the column second control module is used to control the second end M2 of the column motor in the motor matrix to a high level. At this time, the current flows from the second end M2 of the motor to the first end M1, and the motor reverses.

[0030] In one embodiment of the present invention, referring to Figure 2 As shown, the motor matrix may include n rows of motors and m columns of motors.

[0031] The row first control module includes n first transistors MOS1, and the n first transistors MOS1 correspond to n rows of motors in the motor matrix respectively. The first transistor MOS1 is configured as follows: the gate receives a first control signal and turns on its own state. The first control signal is used to indicate whether the motor rotates forward or reversely.

[0032] The column first control module includes m second transistors MOS2, and the m second transistors MOS2 correspond to m columns of motors in the motor matrix respectively. The second transistor MOS2 is configured as follows: the gate receives a second control signal and turns on its own state, and the second control signal is used to indicate whether the motor rotates forward or reverse.

[0033] In this way, driving the motor through transistor control is more efficient and faster, and the transistor has high input impedance, small driving power and fast starting speed.

[0034] The first transistor MOS1 can be selected as a P-type transistor, and the second transistor MOS2 can be selected as an N-type transistor. The first control signal can be represented as a low-level signal of forward control, used to turn on the first transistor MOS1, and the second control signal can be represented as a high-level signal of forward control, used to turn on the second transistor MOS2.

[0035] It should be noted that the first control signal and the second control signal may not only be expressed as forward rotation signals, but may also be expressed as reverse rotation signals.

[0036] Furthermore, one end of the first transistor MOS1 is connected to the power supply end, and the other end is connected to the first end M1 of the motor; one end of the second transistor MOS2 is connected to the second end M2 of the motor, and the other end is connected to the reference ground.

[0037] The first transistor MOS1 is turned on, and the power supply voltage signal is transmitted to the first terminal M1 of the motor. The second transistor MOS2 is turned on, and the ground signal of the reference ground is transmitted to the second terminal M2 of the motor. The current flows from the first terminal M1 to the second terminal M2, and the motor rotates forward.

[0038] In one embodiment of the present invention, referring to Figure 2As shown, the row second control module includes n third transistors MOS3, and the n third transistors MOS3 correspond to n rows of motors in the motor matrix respectively. The third transistors MOS3 are configured as follows: the gate receives a third control signal and turns on its own state, and the third control signal is used to indicate whether the motor is reversed or rotated forward.

[0039] The column second control module includes m fourth transistors MOS4, and the m fourth transistors MOS4 correspond to the m columns of motors in the motor matrix respectively. The fourth transistor MOS4 is configured as follows: the gate receives a fourth control signal and turns on its own state, and the fourth control signal is used to indicate whether the motor is reversed or forward rotated.

[0040] In this way, driving the motor through transistor control is more efficient and faster, and the transistor has high input impedance, small driving power and fast starting speed.

[0041] The third transistor MOS3 can be selected as an N-type transistor, and the fourth transistor MOS4 can be selected as a P-type transistor. The third control signal can be represented as a high-level signal of inversion control, used to turn on the third transistor MOS3; the fourth control signal can be represented as a low-level signal of inversion control, used to turn on the fourth transistor MOS4.

[0042] It should be noted that the third control signal and the fourth control signal do not merely represent inversion signals, but are also forward signals relative to the first control signal and the second control signal.

[0043] Furthermore, one end of the third transistor MOS3 is connected to the reference ground, and the other end is connected to the first end M1 of the motor; one end of the fourth transistor MOS4 is connected to the second end M2 of the motor, and the other end is connected to the power supply end.

[0044] The third transistor MOS3 is turned on, and the ground signal of the reference ground is transmitted to the first terminal M1 of the motor. The fourth transistor MOS4 is turned on, and the power supply terminal voltage signal is transmitted to the second terminal M2 of the motor. The current flows from the second terminal M2 to the first terminal M1, and the motor reverses.

[0045] Refer to Figure 3 As shown, in one implementation, the anode of the first diode D1 is connected to the first control module, that is, the anode of the first diode D1 is connected to the first transistor MOS1, and the cathode of the first diode D1 is connected to the first end M1 of the motor.

[0046] Refer to Figure 4 As shown, in one implementation, the anode of the second diode D2 is connected to the second end M2 of the motor, and the cathode of the second diode D2 is connected to the first control module, that is, the cathode of the second diode D2 is connected to the second transistor MOS2.

[0047] In this way, when the motor rotates forward, the current can be unidirectionally conducted from the power supply end to the first end M1 of the motor, then to the second end M2, and back to the reference ground, thereby preventing other uncontrolled motors in the motor matrix from malfunctioning due to the generation of a current loop.

[0048] Refer to Figure 3 As shown, in one implementation, the anode of the third diode D3 is connected to the first end M1 of the motor, and the cathode of the third diode D3 is connected to the second control module, that is, the cathode of the third diode D3 is connected to the third transistor MOS3.

[0049] Refer to Figure 4 As shown, in one implementation, the anode of the fourth diode D4 is connected to the second control module, that is, the anode of the fourth diode D4 is connected to the fourth transistor MOS4, and the cathode of the fourth diode D4 is connected to the second end M2 of the motor.

[0050] In this way, when the motor reverses, the current can be unidirectionally conducted from the power supply end to the second end M2 of the motor, then to the first end M1, and back to the reference ground, thereby preventing other uncontrolled motors in the motor matrix from malfunctioning due to the generation of a current loop.

[0051] In one embodiment of the present invention, a fifth diode D5 is connected between the first end M1 of the motor and the reference ground, and an anode of the fifth diode D5 is connected to the reference ground, and a cathode of the fifth diode D5 is connected to the first end M1 of the motor.

[0052] In one implementation, a sixth diode D6 is connected between the second end M2 of the motor and the reference ground, an anode of the sixth diode D6 is connected to the reference ground, and a cathode of the sixth diode D6 is connected to the second end M2 of the motor.

[0053] In this way, the fifth diode D5 or the sixth diode D6 can be provided to allow continuous current flow, thereby releasing the reverse electromotive force generated when the motor stops running.

[0054] In one embodiment of the present invention, a seventh diode D7 is connected between the first end M1 of the motor and the power supply end, and an anode of the seventh diode D7 is connected to the first end M1 of the motor, and a cathode is connected to the power supply end.

[0055] In one implementation, an eighth diode D8 is connected between the second end M2 of the motor and the power supply end, and an anode of the eighth diode D8 is connected to the first end M1 of the motor, and a cathode is connected to the power supply end.

[0056] In this way, the seventh diode D7 or the eighth diode D8 can be provided to allow for continuous current flow, thereby releasing the reverse electromotive force generated when the motor stops running.

[0057] In a preferred embodiment of the present invention, the full-bridge drive circuit is configured as follows: the anode of the first diode D1 is connected to the first control module, that is, the anode of the first diode D1 is connected to the first transistor MOS1, and the cathode of the first diode D1 is connected to the first end M1 of the motor; the anode of the third diode D3 is connected to the first end M1 of the motor, and the cathode of the third diode D3 is connected to the second control module, that is, the cathode of the third diode D3 is connected to the third transistor MOS3; a fifth diode D5 is connected between the first end M1 of the motor and the reference ground, the anode of the fifth diode D5 is connected to the reference ground, and the cathode is connected to the first end M1 of the motor; a seventh diode D7 is connected between the first end M1 of the motor and the power supply end, the anode of the seventh diode D7 is connected to the first end M1 of the motor, and the cathode is connected to the power supply end.

[0058] In this way, the first diode D1 and the third diode D3 can prevent the interference of other motors when the circuit rotates forward or reversely. At the same time, the fifth diode D5 and the seventh diode D7 can be used to freewheel and relieve the electromotive force when the motor stops rotating forward or reversely.

[0059] The specific path of freewheeling when forward rotation stops is: the current is generated from the second terminal M2 of the motor, passes through the internal diode of the fourth transistor MOS4 to the power supply terminal, flows from the power supply terminal to the reference ground through a preset electrolytic capacitor, and flows from the reference ground through the fifth diode D5 and the first diode D1 to the first terminal M1 of the motor.

[0060] The specific path of freewheeling when reversing stops is: the current is generated from the first terminal M1 of the motor, passes through the third diode D3 and the seventh diode D to the power supply terminal, flows from the power supply terminal to the reference ground through a preset electrolytic capacitor, and from the reference ground through the internal diode of the second transistor MOS2 to the second terminal M2 of the motor.

[0061] It should be noted that the above freewheeling path defaults to flowing from the first terminal M1 to the second terminal M2 when the motor rotates forward; and flowing from the second terminal M2 to the first terminal M1 when the motor rotates reversely.

[0062] In a preferred embodiment of the present invention, the circuit can also be configured as follows: the anode of the second diode D2 is connected to the second end M2 of the motor, and the cathode of the second diode D2 is connected to the first control module, that is, the cathode of the second diode D2 is connected to the second transistor MOS2; the anode of the fourth diode D4 is connected to the second control module, that is, the anode of the fourth diode D4 is connected to the fourth transistor MOS4, and the cathode of the fourth diode D4 is connected to the second end M2 of the motor; a sixth diode D6 is connected between the second end M2 of the motor and the reference ground, the anode of the sixth diode D6 is connected to the reference ground, and the cathode is connected to the second end M2 of the motor; an eighth diode D8 is connected between the second end M2 of the motor and the power supply end, the anode of the eighth diode D8 is connected to the first end M1 of the motor, and the cathode is connected to the power supply end.

[0063] Thus, the second diode D2 and the fourth diode D4 can prevent the interference of other motors when the circuit rotates forward or reversely. Meanwhile, the sixth diode D6 and the eighth diode D8 can be used to freewheel and relieve the electromotive force when the motor stops rotating forward or reversely.

[0064] The specific path of freewheeling when forward rotation stops is: the current is generated from the first terminal M1 of the motor, passes through the internal diode of the first transistor MOS1 to the power supply terminal, flows from the power supply terminal to the reference ground through a preset electrolytic capacitor, and flows from the reference ground through the sixth diode D6 and the fourth diode D4 to the second terminal M2 of the motor.

[0065] The specific path of freewheeling when reversing stops is: the current is generated from the second terminal M2 of the motor, passes through the second diode D2 and the eighth diode D8 to the power supply end, flows from the power supply end to the reference ground through a preset electrolytic capacitor, and from the reference ground through the internal diode of the third transistor MOS3 to the first terminal M1 of the motor.

[0066] It should be noted that the above freewheeling path defaults to flowing from the second end M2 to the first end M1 when the motor rotates forward; and flowing from the first end M1 to the second end M2 when the motor rotates reversely.

[0067] An embodiment of the present invention further provides a driving device, which includes the full-bridge matrix driving circuit of the cargo lane transport motor in the above embodiment.

[0068] In summary, the present invention provides a full-bridge matrix driving circuit for driving the motor matrix to operate. Specifically, a full-bridge driving circuit is constructed with each motor in a full-bridge connection mode. By setting n first transistors MOS1 and third transistors MOS3 and m second transistors MOS2 and fourth transistors MOS4, two control modes of the full-bridge circuit are formed through interactive control of four transistors, which can control the forward and reverse rotation of the motor, and can also control the independent operation of some small matrices such as 2*2 or 3*3 or 2*3 or 3*2 in the motor matrix. In addition, multiple diodes are provided in the circuit configuration, and the diodes are used to prevent the malfunction of other motors, so that the internal control logic of the overall matrix is ​​clearer, and the interference of other motors is avoided; on the other hand, the fifth diode D5, the seventh diode D7 or the sixth diode D6, and the eighth diode D8 are provided to form a freewheeling path, and the reverse electromotive force is discharged when the forward and reverse rotation of the motor stops.

[0069] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0070] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A full-bridge matrix drive circuit for a cargo transport motor, characterized in that: include: Motor matrix; A row first control module and a column first control module, wherein the row first control module is used to control the first end (M1) of the row motor in the motor matrix to be at a high level, and the column first control module is used to control the second end (M2) of the column motor in the motor matrix to be at a low level; A row second control module and a column second control module, wherein the row second control module is used to control the first end (M1) of the row motor in the motor matrix to be at a low level, and the column second control module is used to control the second end (M2) of the column motor in the motor matrix to be at a high level; The motor matrix is ​​configured as follows: the current from the first control module in the row to the motor or the current from the motor to the first control module in the column is unidirectionally conducted; the current from the second control module in the column to the motor or the current from the motor to the second control module in the row is unidirectionally conducted.

2. The full-bridge matrix drive circuit for cargo transport motor according to claim 1 is characterized in that: The row first control module comprises n first transistors (MOS1), the n first transistors (MOS1) respectively correspond to n rows of motors in the motor matrix, the first transistors (MOS1) are configured as follows: the gate receives a first control signal and turns on its own state, the first control signal is used to indicate forward or reverse rotation of the motor; The column first control module includes m second transistors (MOS2), and the m second transistors (MOS2) respectively correspond to the m columns of motors in the motor matrix. The second transistors (MOS2) are configured as follows: the gate receives a second control signal and turns on its own state, and the second control signal is used to indicate whether the motor rotates forward or reverse.

3. The full-bridge matrix drive circuit for cargo transport motor according to claim 2 is characterized in that: One end of the first transistor (MOS1) is connected to the power supply end, and the other end is connected to the first end (M1) of the motor; one end of the second transistor (MOS2) is connected to the second end (M2) of the motor, and the other end is connected to the reference ground.

4. The full-bridge matrix drive circuit for cargo transport motor according to claim 1 is characterized in that: The row second control module comprises n third transistors (MOS3), the n third transistors (MOS3) respectively correspond to the n rows of motors in the motor matrix, and the third transistors (MOS3) are configured as follows: the gate receives a third control signal and turns on its own state, and the third control signal is used to indicate the reverse or forward rotation of the motor; The column second control module includes m fourth transistors (MOS4), and the m fourth transistors (MOS4) respectively correspond to the m columns of motors in the motor matrix. The fourth transistors (MOS4) are configured as follows: the gate receives a fourth control signal and turns on its own state, and the fourth control signal is used to indicate whether the motor reverses or rotates forward.

5. The full-bridge matrix drive circuit for cargo transport motor according to claim 4 is characterized in that: One end of the third transistor (MOS3) is connected to the reference ground, and the other end is connected to the first end (M1) of the motor; one end of the fourth transistor (MOS4) is connected to the second end (M2) of the motor, and the other end is connected to the power supply end.

6. The full-bridge matrix drive circuit for cargo transport motor according to claim 2 is characterized in that: The anode of the first diode (D1) is connected to the first transistor (MOS1), and the cathode of the first diode (D1) is connected to the first end (M1) of the motor; or the anode of the second diode (D2) is connected to the second end (M2) of the motor, and the cathode of the second diode (D2) is connected to the second transistor (MOS2).

7. The full-bridge matrix drive circuit for cargo transport motor according to claim 4 is characterized in that: The anode of the third diode (D3) is connected to the first end (M1) of the motor, and the cathode of the third diode (D3) is connected to the third transistor (MOS3); or the anode of the fourth diode (D4) is connected to the fourth transistor (MOS4), and the cathode of the fourth diode (D4) is connected to the second end (M2) of the motor.

8. The full-bridge matrix drive circuit for cargo transport motor according to claim 2 is characterized in that: A fifth diode (D5) is connected between the first end (M1) of the motor and a reference ground, an anode of the fifth diode (D5) is connected to the reference ground, and a cathode is connected to the first end (M1) of the motor; or a sixth diode (D6) is connected between the second end (M2) of the motor and the reference ground, an anode of the sixth diode (D6) is connected to the reference ground, and a cathode is connected to the second end (M2) of the motor.

9. The full-bridge matrix drive circuit for cargo transport motor according to claim 2 is characterized in that: A seventh diode (D7) is connected between the first end (M1) of the motor and the power supply end, the anode of the seventh diode (D7) is connected to the first end (M1) of the motor, and the cathode is connected to the power supply end; or an eighth diode (D8) is connected between the second end (M2) of the motor and the power supply end, the anode of the eighth diode (D8) is connected to the first end (M1) of the motor, and the cathode is connected to the power supply end.

10. A driving device, characterized in that: It comprises the full-bridge matrix drive circuit of the cargo lane transport motor as described in any one of claims 1-9.

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