Modularized design-based low-power-consumption mobile robot motion control system

Abstract

The invention discloses a modular design-based low-power-consumption mobile robot motion control system, which comprises a driving module, the driving module comprises a mounting plate, the bottom of the mounting plate is fixedly connected with a mounting piece, and one side of the mounting piece is fixedly connected with a driving motor; the power supply module comprises a power supply box, the bottom of the power supply box is fixedly connected with the top of the mounting plate, and a storage battery is arranged in the power supply box. The technical effects are that the power consumption monitoring unit is used for collecting data in real time, the system can automatically divide multi-stage power consumption modes according to task loads, the power consumption in the cruise state is obviously reduced, the battery endurance time is greatly prolonged, and the power consumption of the power consumption monitoring unit is reduced. And the low-power-consumption requirement of long-time outdoor operation is met.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a low-power mobile robot motion control system based on modular design. Background Art

[0002] Mobile robot motion control systems are widely used in industrial inspection, home services, agricultural monitoring and other fields. As the core component for robots to achieve autonomous movement, they support robots to complete basic movements such as forward movement, steering, and obstacle avoidance by integrating drive control, sensor detection and path planning functions. They are key infrastructure to ensure that robots can perform various tasks.

[0003] However, in scenarios with high requirements for endurance and adaptability, such as long-term field inspections and operations in complex terrain, traditional systems use an integrated hardware architecture, and each module is hard-connected through dedicated circuits. As a result, a single module failure requires overall replacement, resulting in high maintenance costs and long cycles. Due to the lack of a dynamic power consumption adjustment mechanism, all modules operate at full power regardless of the load, resulting in a large amount of energy waste in the cruising state. Therefore, a low-power mobile robot motion control system based on modular design is proposed. Summary of the Invention

[0004] To this end, the present invention provides a low-power mobile robot motion control system based on modular design to solve the above-mentioned problems in the prior art.

[0005] In order to achieve the above object, the present invention provides the following technical solutions: According to a first aspect of the present invention, a low-power mobile robot motion control system based on modular design includes a drive module, the drive module includes a mounting plate, the bottom of the mounting plate is fixedly connected to a mounting piece, and one side of the mounting piece is fixedly connected to a drive motor; a power module, the power module includes a power box, the bottom of the power box is fixedly connected to the top of the mounting plate, a battery is provided inside the power box, and a DC-DC converter is provided on the surface of the battery; a control module, the control module includes a mounting box, the bottom of the inner cavity of the mounting box is fixedly connected to a mainboard, air vents are provided on both sides of the inner cavity of the mounting box, a control terminal is provided on the surface of the mainboard, and a communication interface is provided on the surface of the mainboard; a sensor module, the sensor module includes a mounting seat, a binocular camera is fixedly connected to one side of the top of the mounting seat, an infrared ranging sensor is provided inside the binocular camera, and the bottom of the mounting seat is bolted to the top of the mounting box.

[0006] Furthermore, the driving module also includes a driving wheel, one side of which is fixedly connected to one end of the driving motor shaft, the bottom of the mounting plate is fixedly connected to a connecting rod, and the lower end of the connecting rod is fixedly connected to a universal wheel.

[0007] Furthermore, the power supply module further includes a power consumption detection and power quantity display unit, and the power consumption detection and power quantity display unit is electrically connected to the control terminal.

[0008] Furthermore, the control module also includes a mounting bracket, the bottom of the mounting bracket is fixedly connected to the bottom of the inner cavity of the mounting box, the inner wall of the mounting bracket is fixedly connected to a mounting plate, one side of the surface of the mounting plate is fixedly connected to a motor, one end of the motor shaft is fixedly connected to a fan blade, a dustproof net is provided at the end of the inner cavity of the mounting box, and a wireless communication antenna is fixedly connected to the surface of the mainboard.

[0009] Furthermore, the sensing module also includes an ultrasonic sensor, the bottom of which is fixedly connected to the top of the mounting base, an IMU inertial measurement unit is provided on the side of the ultrasonic sensor close to the binocular camera, and a data connection line is fixedly connected to the surface of the mounting base.

[0010] Furthermore, the control terminal of the control module is connected to the drive module, power module, and sensor module signals through a communication interface, and can receive the binocular camera image data, infrared ranging sensor distance value, ultrasonic sensor obstacle distance, and IMU inertial measurement unit attitude angle of the sensor module, and fuse multi-source data based on the Kalman filter algorithm to generate robot posture information.

[0011] Furthermore, the control terminal has a built-in motion control algorithm, including a path planning submodule and a drive adjustment submodule; the path planning submodule generates an optimal path based on the A* search algorithm or the Dijkstra algorithm, combined with the environment map and real-time obstacle data; the drive adjustment submodule sends a speed control signal to the drive motor according to the path instruction, and realizes the robot's translation, steering and in-place rotation through the coordinated movement of the drive wheel and the universal wheel, wherein the steering angle error is ≤±1.5°, and the offset of 10 meters in a straight line is ≤±5cm.

[0012] Furthermore, the power consumption detection and power display unit of the power module collects the battery output current and the voltage data of each module in real time, with a sampling frequency of ≥500Hz. The control terminal dynamically adjusts the output power of the DC-DC converter according to the preset power consumption threshold, low power mode <5W, standard mode 5-15W, and high load mode >15W; when the robot is in a stationary standby state, the control terminal controls non-essential modules, such as the binocular camera and the drive motor to enter sleep mode, and the overall power consumption is reduced to below 1.2W.

[0013] Furthermore, the binocular camera of the sensing module, the infrared ranging sensor, and the ultrasonic sensor form an environmental perception matrix. The control terminal identifies the obstacle type through a deep learning algorithm, and adjusts the robot's motion posture in real time in combination with the acceleration and angular velocity data of the IMU inertial measurement unit; when the obstacle distance is detected to be less than 0.3m, the control terminal sends an emergency stop command to the drive module. When the speed is 0.5m / s, the braking distance is ≤0.2m.

[0014] Furthermore, the wireless communication antenna of the control module supports Bluetooth 5.0 / Wi-Fi 6 communication protocol, and can interact with the host computer or cloud server to realize remote task issuance and status monitoring; the motor and fan blades constitute an active heat dissipation system, which automatically starts when the mainboard temperature is greater than 55°C, and cooperates with the dustproof net to achieve a balance between heat dissipation and dust prevention, ensuring that the control terminal operates stably in an environment of -20°C~60°C.

[0015] The present invention has the following advantages: each module is connected through a standardized interface, supports independent disassembly and replacement, significantly reduces the maintenance cost when a single module fails, and can quickly replace the sensor or execution module according to the task requirements, greatly improving the efficiency of multi-scenario adaptation, and effectively solving the maintenance and adaptation problems caused by the functional coupling of traditional systems. With the help of the power consumption monitoring unit to collect data in real time, the system can automatically divide the multi-level power consumption mode according to the task load, significantly reduce the power consumption in the cruising state, greatly extend the battery life, and meet the low power consumption requirements of long-term outdoor operations. The drive module adopts advanced control strategies combined with closed-loop regulation, and performs posture compensation through the inertial measurement unit to achieve high-precision motor speed control and motion posture adjustment; the multi-sensor fusion obstacle avoidance solution can effectively identify obstacles at different distances and respond quickly, adapting to the autonomous navigation and operation requirements of complex scenarios such as industrial inspections and agricultural monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the main structure of a low-power mobile robot motion control system based on modular design provided by the present invention.

[0017] Figure 2 This is a schematic diagram of the bottom-up structure of a low-power mobile robot motion control system based on modular design provided by the present invention.

[0018] Figure 3 This is a schematic diagram of the decomposed structure of a power module of a low-power mobile robot motion control system based on modular design provided by the present invention.

[0019] Figure 4 This is a schematic diagram of the internal structure of an installation box of a low-power mobile robot motion control system based on modular design provided by the present invention.

[0020] Figure 5 This is a schematic diagram of the side structure of an installation box for a low-power mobile robot motion control system based on modular design provided by the present invention.

[0021] Figure 6 This is a schematic diagram of the sensor module structure of a low-power mobile robot motion control system based on modular design provided by the present invention.

[0022] Figure 7 This is a system structure diagram of a low-power mobile robot motion control system based on modular design provided by the present invention.

[0023] In the figure: 11. Mounting plate; 12. Mounting part; 13. Drive motor; 14. Drive wheel; 15. Connecting rod; 16. Universal wheel; 21. Power supply box; 22. Battery; 23. DC-DC converter; 24. Power consumption detection and power display unit; 31. Mounting box; 32. Main board; 33. Control terminal; 34. Communication interface; 35. Mounting bracket; 36. Mounting plate; 37. Motor; 38. Fan blade; 39. Dustproof net; 310. Wireless communication antenna; 41. Mounting base; 42. Binocular camera; 43. Infrared ranging sensor; 44. Ultrasonic sensor; 45. IMU inertial measurement unit; 46. Data connection line. DETAILED DESCRIPTION

[0024] The following describes the implementation of the present invention using specific embodiments. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. Obviously, the embodiments described are only a portion of the present invention, not all of it. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention. Example

[0025] like Figures 1 to 7As shown, a low-power mobile robot motion control system based on modular design in an embodiment of the first aspect of the present invention includes: a drive module, the drive module includes a mounting plate 11, the bottom of the mounting plate 11 is fixedly connected to a mounting member 12, and one side of the mounting member 12 is fixedly connected to a drive motor 13; a power module, the power module includes a power box 21, the bottom of the power box 21 is fixedly connected to the top of the mounting plate 11, a battery 22 is arranged inside the power box 21, and a DC-DC converter 23 is arranged on the surface of the battery 22; a control module, the control module includes a mounting box 31, the bottom of the inner cavity of the mounting box 31 is fixedly connected to a mainboard 32, air vents are provided on both sides of the inner cavity of the mounting box 31, a control terminal 33 is arranged on the surface of the mainboard 32, and a communication interface 34 is arranged on the surface of the mainboard 32; a sensor module, the sensor module includes a mounting seat 41, a binocular camera 42 is fixedly connected to one side of the top of the mounting seat 41, an infrared ranging sensor 43 is arranged inside the binocular camera 42, and the bottom of the mounting seat 41 is bolted to the top of the mounting box 31; In the above embodiment, it should be noted that, when in use, after the control terminal 33 is powered on, it sends a self-test instruction to the drive module, the power module, and the sensor module through the communication interface 34, the drive motor 13 performs initial rotation calibration, the power consumption detection and power display unit 24 collects the voltage of the battery 22 and the initial current of each module, the binocular camera 42, the infrared ranging sensor 43, and the ultrasonic sensor 44 start preheating, and the IMU inertial measurement unit 45 collects initial posture data. After each module completes the connection status verification through the standardized interface, the DC-DC converter 23 provides a stable voltage for the control terminal 33, the drive motor 13, etc., and the system enters the standby ready state; The technical effect achieved by the above embodiment is: after each module completes the connection status verification through the standardized interface, the DC-DC converter 23 provides a stable voltage for the control terminal 33, the drive motor 13, etc., and the system enters the standby ready state. Example

[0026] like Figures 1 to 7As shown, a low-power mobile robot motion control system based on modular design includes all the contents of Example 1. In addition, the drive module also includes a drive wheel 14, one side of the drive wheel 14 is fixedly connected to one end of the rotating shaft of the drive motor 13, the bottom of the mounting plate 11 is fixedly connected to a connecting rod 15, and the lower end of the connecting rod 15 is fixedly connected to a universal wheel 16. The power module also includes a power consumption detection and power display unit 24, which is electrically connected to the control terminal 33. The control module also includes a mounting bracket 35, and the bottom of the mounting bracket 35 is fixed to the bottom of the inner cavity of the mounting box 31. The inner wall of the mounting frame 35 is fixedly connected to a mounting plate 36, one side of the surface of the mounting plate 36 is fixedly connected to a motor 37, one end of the rotating shaft of the motor 37 is fixedly connected to a fan blade 38, a dustproof net 39 is provided at the end of the inner cavity of the mounting box 31, a wireless communication antenna 310 is fixedly connected to the surface of the main board 32, the sensing module also includes an ultrasonic sensor 44, the bottom of the ultrasonic sensor 44 is fixedly connected to the top of the mounting base 41, an IMU inertial measurement unit 45 is provided on the side of the ultrasonic sensor 44 close to the binocular camera 42, and a data connection line 46 is fixedly connected to the surface of the mounting base 41; In the above embodiment, it should be noted that the sensing module collaboratively collects data through the binocular camera 42, the infrared ranging sensor 43, the ultrasonic sensor 44, and the IMU inertial measurement unit 45, transmits the data to the control terminal 33 via the data connection line 46, and generates a three-dimensional environment model through the Kalman filter algorithm. The path planning submodule of the control terminal 33 generates the optimal path based on the algorithm, and the drive adjustment submodule parses the path instruction into the speed and torque parameters of the drive motor 13, drives the drive wheel 14 through the FOC vector control algorithm, and the universal wheel 16 cooperates with the steering. When an obstacle is detected, the control terminal sends a deceleration instruction to achieve smooth braking. The technical effect achieved by the above embodiment is: the drive adjustment submodule parses the path instruction into the speed and torque parameters of the drive motor 13, drives the drive wheel 14 through the FOC vector control algorithm, and the universal wheel 16 cooperates with the steering. When an obstacle is detected, the control terminal sends a deceleration instruction to achieve smooth braking. Example

[0027] like Figures 1 to 7As shown, a low-power mobile robot motion control system based on modular design includes all the contents of Example 2. In addition, the control terminal 33 of the control module is connected to the drive module, power module, and sensor module signals through the communication interface 34, and can receive the image data of the binocular camera 42 of the sensor module, the ranging value of the infrared ranging sensor, the obstacle distance of the ultrasonic sensor 44, and the posture angle of the IMU inertial measurement unit 45, and fuse multi-source data based on the Kalman filter algorithm to generate robot posture information. The control terminal 33 has a built-in motion control algorithm, including a path planning submodule and a drive adjustment submodule; the path The planning submodule generates the optimal path based on the A* search algorithm or the Dijkstra algorithm, combined with the environment map and real-time obstacle data; the drive adjustment submodule sends a speed control signal to the drive motor 13 according to the path instruction, and realizes the translation, steering and rotation of the robot through the coordinated movement of the drive wheel 14 and the universal wheel 16, wherein the steering angle error is ≤±1.5°, and the offset of 10 meters in a straight line is ≤±5cm. The power consumption detection and power display unit 24 of the power module collects the output current of the battery 22 and the voltage data of each module in real time, with a sampling frequency of ≥500Hz. The control terminal 33 adjusts the output current of the battery 22 and the voltage data of each module according to the preset power consumption threshold. The output power of the DC-DC converter 23 is dynamically adjusted. When the robot is in a stationary standby state, the control terminal 33 controls non-essential modules, such as the binocular camera 42 and the drive motor 13, to enter a sleep mode, and the overall power consumption is reduced to below 1.2W. The binocular camera 42 of the sensor module, the infrared ranging sensor 43, and the ultrasonic sensor 44 form an environmental perception matrix. The control terminal 33 identifies the obstacle type through a deep learning algorithm and adjusts the robot in real time in combination with the acceleration and angular velocity data of the IMU inertial measurement unit 45. Robot motion posture; when the obstacle distance is detected to be less than 0.3m, the control terminal 33 sends an emergency stop command to the drive module. When the speed is 0.5m / s, the braking distance is ≤0.2m. The wireless communication antenna 310 of the control module supports Bluetooth 5.0 / Wi-Fi6 communication protocol, and can interact with the host computer or cloud server for data to achieve remote task issuance and status monitoring; the motor 37 and the fan blade 38 constitute an active heat dissipation system, which automatically starts when the temperature of the mainboard 32 is greater than 55℃, and cooperates with the dustproof net 39 to achieve a balance between heat dissipation and dust prevention, ensuring that the control terminal 33 operates stably in an environment of -20℃~60℃; In the above embodiment, it should be noted that the power consumption detection and power display unit 24 collects the real-time power consumption of each module, and the control terminal 33 automatically switches between low power consumption, standard, and high load modes according to the task load, adjusts the output power of the DC-DC converter 23 and controls the module to sleep; the sensor module scans the environment in real time, the control terminal 33 identifies the obstacle type and adjusts the speed of the drive wheel 14 in combination with the data of the IMU inertial measurement unit 45, and triggers the emergency stop mechanism when a sudden close obstacle occurs; the wireless communication antenna 310 realizes data interaction and command reception, and when the temperature of the mainboard 32 is too high, the motor 37 drives the fan blades 38 to cooperate with the dustproof net 39 to dissipate heat. After use, the data is cleaned up and switched to low-power cruise mode to wait for instructions. The whole process is automated through the collaboration of modular hardware and intelligent algorithms to ensure high-precision movement, multi-scene adaptation and low power consumption.

[0028] The technical effect achieved by the above embodiment is: after use, the data is cleaned up and the mode is switched to low-power cruise mode to wait for instructions. The whole process is automated through the collaboration of modular hardware and intelligent algorithms to ensure high-precision movement, multi-scene adaptation and low power consumption.

[0029] Working principle: When in use, after the control terminal 33 is powered on, it sends a self-test instruction to the drive module, power module, and sensor module through the communication interface 34, the drive motor 13 performs initial rotation calibration, the power consumption detection and power display unit 24 collects the battery 22 voltage and the initial current of each module, the binocular camera 42, the infrared ranging sensor 43, and the ultrasonic sensor 44 start preheating, and the IMU inertial measurement unit 45 collects initial posture data. After each module completes the connection status verification through the standardized interface, the DC-DC converter 23 provides a stable voltage for the control terminal 33, the drive motor 13, etc., and the system enters the standby ready state; the sensor module collaboratively collects data through the binocular camera 42, the infrared ranging sensor 43, the ultrasonic sensor 44, and the IMU inertial measurement unit 45, and transmits it to the control terminal 33 through the data connection line 46, and generates a three-dimensional environment model through the Kalman filter algorithm; the path planning submodule of the control terminal 33 generates the optimal path based on the algorithm, and the drive adjustment submodule converts the path The command is parsed into the speed and torque parameters of the drive motor 13, which drives the drive wheel 14 through the FOC vector control algorithm, and the universal wheel 16 cooperates with the steering. When an obstacle is detected, the control terminal sends a deceleration command to achieve smooth braking. The power consumption detection and power display unit 24 collects the real-time power consumption of each module. The control terminal 33 automatically switches between low-power, standard, and high-load modes according to the task load, adjusts the output power of the DC-DC converter 23, and controls the module to sleep. The sensor module scans the environment in real time. The control terminal 33 identifies the obstacle type and adjusts the speed of the drive wheel 14 based on the data from the IMU inertial measurement unit 45. The emergency stop mechanism is triggered when a sudden close-range obstacle appears. The wireless communication antenna 310 realizes data exchange and command reception. When the mainboard 32 temperature is too high, the motor 37 drives the fan blades 38 and cooperates with the dustproof net 39 to dissipate heat. After use, the data is cleaned and the system switches to low-power cruise mode to await instructions. Modular hardware and intelligent algorithms work together to achieve full process automation, ensuring high-precision motion, multi-scenario adaptation, and low power consumption.

Claims

1. A low-power mobile robot motion control system based on modular design, characterized in that: include; A drive module, the drive module comprising a mounting plate (11), a mounting member (12) being fixedly connected to the bottom of the mounting plate (11), and a drive motor (13) being fixedly connected to one side of the mounting member (12); A power module, the power module comprising a power box (21), the bottom of the power box (21) being fixedly connected to the top of the mounting plate (11), a battery (22) being provided inside the power box (21), and a DC-DC converter (23) being provided on the surface of the battery (22); A control module, the control module comprising an installation box (31), a mainboard (32) being fixedly connected to the bottom of an inner cavity of the installation box (31), air vents being provided on both sides of the inner cavity of the installation box (31), a control terminal (33) being provided on a surface of the mainboard (32), and a communication interface (34) being provided on a surface of the mainboard (32); A sensor module, comprising a mounting base (41), a binocular camera (42) fixedly connected to one side of the top of the mounting base (41), an infrared ranging sensor (43) being provided inside the binocular camera (42), and a bottom of the mounting base (41) being bolted to the top of the mounting box (31).

2. The low-power mobile robot motion control system based on modular design according to claim 1 is characterized in that: The driving module further comprises a driving wheel (14), one side of which is fixedly connected to one end of a rotating shaft of a driving motor (13); a connecting rod (15) is fixedly connected to the bottom of the mounting plate (11); and a universal wheel (16) is fixedly connected to the lower end of the connecting rod (15).

3. The low-power mobile robot motion control system based on modular design according to claim 1 is characterized in that: The power supply module further comprises a power consumption detection and power quantity display unit (24), and the power consumption detection and power quantity display unit (24) is electrically connected to the control terminal (33).

4. The low-power mobile robot motion control system based on modular design according to claim 1, characterized in that: The control module further comprises a mounting frame (35), the bottom of the mounting frame (35) being fixedly connected to the bottom of the inner cavity of the mounting box (31), the inner wall of the mounting frame (35) being fixedly connected to a mounting plate (36), one side of the surface of the mounting plate (36) being fixedly connected to a motor (37), one end of the rotating shaft of the motor (37) being fixedly connected to a fan blade (38), a dustproof net (39) being provided at the end of the inner cavity of the mounting box (31), and a wireless communication antenna (310) being fixedly connected to the surface of the main board (32).

5. The low-power mobile robot motion control system based on modular design according to claim 1, characterized in that: The sensing module further includes an ultrasonic sensor (44), the bottom of the ultrasonic sensor (44) is fixedly connected to the top of the mounting base (41), an IMU inertial measurement unit (45) is provided on the side of the ultrasonic sensor (44) close to the binocular camera (42), and a data connection line (46) is fixedly connected to the surface of the mounting base (41).

6. The low-power mobile robot motion control system based on modular design according to claim 1, characterized in that: The control terminal (33) of the control module is connected to the drive module, the power module, and the sensor module through the communication interface (34), and can receive the image data of the binocular camera (42) of the sensor module, the distance value of the infrared ranging sensor, the obstacle distance of the ultrasonic sensor (44), and the posture angle of the IMU inertial measurement unit (45), and generate the robot posture information by fusing the multi-source data based on the Kalman filter algorithm.

7. The low-power mobile robot motion control system based on modular design according to claim 1, characterized in that: The control terminal (33) has a built-in motion control algorithm, including a path planning submodule and a drive adjustment submodule; the path planning submodule generates an optimal path based on an A* search algorithm or a Dijkstra algorithm, combined with an environment map and real-time obstacle data; the drive adjustment submodule sends a speed control signal to the drive motor (13) according to the path instruction, and realizes the translation, steering and rotation of the robot in situ through the coordinated movement of the drive wheel (14) and the universal wheel (16), wherein the steering angle error is ≤±1.5°, and the offset of 10 meters of straight driving is ≤±5cm.

8. The low-power mobile robot motion control system based on modular design according to claim 1, characterized in that: The power consumption detection and power display unit (24) of the power module collects the output current of the battery (22) and the voltage data of each module in real time, with a sampling frequency of ≥500Hz. The control terminal (33) dynamically adjusts the output power of the DC-DC converter (23) according to the preset power consumption threshold, low power consumption mode <5W, standard mode 5-15W, and high load mode >15W; when the robot is in a stationary standby state, the control terminal (33) controls non-essential modules, such as the binocular camera (42) and the drive motor (13), to enter a sleep mode, and the overall power consumption is reduced to below 1.2W.

9. The low-power mobile robot motion control system based on modular design according to claim 1, characterized in that: The binocular camera (42) of the sensing module, the infrared ranging sensor (43), and the ultrasonic sensor (44) form an environmental perception matrix. The control terminal (33) identifies the type of obstacle through a deep learning algorithm and adjusts the robot's motion posture in real time in combination with the acceleration and angular velocity data of the IMU inertial measurement unit (45). When the obstacle distance is detected to be less than 0.3m, the control terminal (33) sends an emergency stop command to the drive module. When the speed is 0.5m / s, the braking distance is ≤0.2m.

10. The low-power mobile robot motion control system based on modular design according to claim 1, characterized in that: The wireless communication antenna (310) of the control module supports Bluetooth 5.0 / Wi-Fi 6 communication protocols and can exchange data with a host computer or a cloud server to achieve remote task distribution and status monitoring; the motor (37) and the fan blades (38) constitute an active heat dissipation system, which automatically starts when the temperature of the mainboard (32) is greater than 55°C, and cooperates with the dustproof net (39) to achieve a balance between heat dissipation and dust prevention, ensuring that the control terminal (33) operates stably in an environment of -20°C to 60°C.

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