Domain control device and transport vehicle

Abstract

The utility model provides a domain control device and a carrier, the domain control device comprises a domain control circuit board, and a domain control unit, a main control interface and at least one sensing input interface which are arranged on the domain control circuit board, the main control communication end of the domain control unit is electrically connected with the main control interface; the sensing signal input end of the domain control unit is electrically connected with the sensing input interface, the domain control device further comprises a display screen, a display driving circuit and a display interface, the display interface is arranged on the control circuit board, and the display input end of the display screen is electrically connected with the display interface through the display driving circuit. According to the utility model, the display screen is integrated in the domain control device, so that the number of cables in the carrier is reduced, the wiring space is saved, the utilization rate of the internal space of the carrier is improved, the overall reliability of the carrier is ensured, and the working efficiency of production, assembly and maintenance of the carrier is improved.

Description

Technical Field

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

[0002] Automated Guided Vehicles (AGVs), also known as automated guided transport vehicles (AGVs) or automated guided carts (AGVs), are one of the key pieces of equipment used to automate material transportation in factories. As AGVs become increasingly used, performance requirements for them in production workshops, warehouses, and other applications are also increasing.

[0003] An automated guided vehicle (AGV) is typically comprised of multiple functional modules. Due to non-uniform device sizes, these modules are typically installed inside the vehicle as separate components, occupying a significant amount of space. Consequently, the number of connecting wiring harnesses between modules is large and the wiring is complex, resulting in lower overall reliability and hindering production, assembly, and after-sales maintenance.

[0004] 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

[0005] 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 domain control device and a transport vehicle including the domain control device. The domain control device can reduce the number of cables inside the transport vehicle, save wiring space, and improve the utilization rate of the interior space of the transport vehicle.

[0006] To achieve the above-mentioned purpose, as one aspect of the present invention, a domain control device for a transport vehicle is provided, wherein the domain control device includes a domain control circuit board and a domain control unit, a main control interface and at least one sensor input interface arranged on the domain control circuit board. The main control communication end of the domain control unit is electrically connected to the main control interface, and the sensor signal input end of the domain control unit is electrically connected to the sensor input interface. The domain control device also includes a display screen, a display driving circuit and a display interface. The display interface is arranged on the control circuit board, and the display input end of the display screen is electrically connected to the display interface through the display driving circuit.

[0007] Optionally, the sensor input interface is an Ethernet interface, a controller area network (CAN) bus interface, a universal serial bus (USB) interface, an input / output (IO) interface, a universal asynchronous receiver and transmitter (UART) interface, or an analog to digital converter (ADC) interface.

[0008] Optionally, the domain control device also includes a touch screen, which is stacked with the display screen, and the touch signal input end of the domain control unit is electrically connected to the touch screen. The domain control unit is also used to receive the touch signal of the touch screen and output the touch signal to the main control interface.

[0009] Optionally, the domain control unit includes a first controller and a second controller, the first controller is electrically connected to the second controller, and the first controller and the second controller are both micro control units.

[0010] Optionally, the domain control device also includes at least one device control interface arranged on the domain control circuit board, the domain control unit has at least one control output end, and the control output end is electrically connected to the device control interface, and the device control interface is used to connect to the electrical equipment on the transport vehicle.

[0011] Optionally, the device control interface is an Ethernet interface, a controller area network bus interface, a universal serial bus interface, an input / output interface, a universal asynchronous receiver / transmitter interface, or an analog-to-digital converter interface.

[0012] Optionally, the domain control device further includes at least one button interface provided on the domain control circuit board, the button input terminal of the domain control unit is electrically connected to the button interface, and the button interface is used to connect to the button device.

[0013] Optionally, the sensor includes a distance measuring sensor, and the sensor data includes a distance measuring result of the distance measuring sensor.

[0014] Optionally, the main control interface is an Ethernet interface, a controller area network (CAN) bus interface, or a universal serial bus (USB) interface.

[0015] Optionally, the main control interface is an Ethernet interface, a controller area network bus interface or a universal serial bus interface.

[0016] Optionally, the main control interface is a dual-channel controller area network bus interface.

[0017] Optionally, the display interface is a Type-C interface.

[0018] As a second aspect of the present invention, a transport vehicle is provided, comprising a vehicle body, a main control device, at least one domain control device and at least one sensor, at least one of the domain control devices being the domain control device provided in an embodiment of the present invention, the main control interface and the display interface of the domain control device being electrically connected to the main control device, and the sensor input interface of the domain control device being electrically connected to the sensor.

[0019] Optionally, one domain control device is respectively provided on two opposite sides of the vehicle body.

[0020] 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 main control device through a motor signal cable.

[0021] Optionally, the motor signal cable is sealed and connected to the signal interface.

[0022] In the present invention, the domain control device also includes a display screen, which is communicatively connected to the display interface through a display driving circuit. The display screen can receive a display control signal from the main control device through the display interface, thereby displaying a corresponding picture. The present invention integrates the display screen into the domain control device, that is, the domain control device simultaneously realizes the display function and the function of feeding back sensor data to the main control device, so that there is no need to separately set up the domain control device and the display screen and related components such as the fixed bracket in 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 production, assembly and maintenance efficiency of the transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings:

[0024] Figure 1 This is a schematic diagram of the structure of a domain control device provided by an embodiment of the present utility model;

[0025] 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.

[0026] Description of reference numerals:

[0027] 10. Domain control circuit board; 100. Domain control unit. DETAILED DESCRIPTION

[0028] 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.

[0029] 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.

[0030] In order to solve the above technical problems, as one aspect of the present invention, a domain control device for a transport vehicle is provided, such as Figure 1 As shown, the domain control device includes a domain control circuit board 10 and a domain control unit 100, a main control interface and at least one sensor input interface arranged on the domain control circuit board. The main control communication end of the domain control unit 100 is electrically connected to the main control interface, and the sensor signal input end of the domain control unit is electrically connected to the sensor input interface. The domain control device also includes a display screen, a display driving circuit and a display interface. The display interface is arranged on the control circuit board 10, and the display input end of the display screen is electrically connected to the display interface through the display driving circuit.

[0031] It can be understood that the transport vehicle includes a main control device and a domain control device, wherein the main control device is the core controller of the transport vehicle, which is used to determine the current position information and environmental information of the transport vehicle based on the feedback signals of each feedback module (such as a sensor) during the travel of the transport vehicle. The warehouse control platform plans the travel path of the transport vehicle according to the environmental information and position information reported by the main control unit and sends a path planning instruction to the main control device of the transport vehicle. The main control device outputs the motor control signal in real time to control the speed of the travel wheel motor of the transport vehicle to realize the start, stop and steering action, so as to control the transport vehicle to travel to the destination along the correct path. The domain control device provided by the present invention is used to be set on one side of the transport vehicle, and collects the feedback signals of various feedback modules (such as ranging sensors) on the transport vehicle, and integrates all the feedback signals and sends them to the main control device to help the main control device realize the navigation function.

[0032] In addition, in the present invention, the domain control device also includes a display screen, which is communicatively connected to the display interface through a display driving circuit. The display screen can receive a display control signal from the main control device through the display interface, thereby displaying a corresponding picture. The present invention integrates the display screen into the domain control device, that is, the domain control device simultaneously realizes the display function and the function of feeding back sensor data to the main control device, so that there is no need to separately set up the domain control device and the display screen and related components such as the fixed bracket in 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 production, assembly and maintenance efficiency of the transport vehicle.

[0033] As an optional implementation of the present invention, the sensor input interface is an Ethernet interface, a controller area network (CAN) bus interface, a universal serial bus (USB) interface, an input / output (IO) interface, a universal asynchronous receiver and transmitter (UART) interface, or an analog to digital converter (ADC) interface.

[0034] It can be understood that the main control interface is also used to transmit the main control signal emitted by the main control device to the main control communication terminal of the domain control unit. For example, when some sensors of the transport vehicle have connection errors, low battery, abnormal position, etc., the main control device can send corresponding control signals to the domain control unit through the main control interface, so that the domain control unit drives the corresponding fault indicator light to light up or drives the corresponding sound device to emit a prompt sound, so as to remind the user to carry out timely inspection and maintenance.

[0035] As an optional embodiment of the present invention, Figure 1 As shown, the domain control device also includes a touch screen, which is stacked with the display screen, and the touch signal input end of the domain control unit is electrically connected to the touch screen. The domain control unit 100 is also used to receive the touch signal of the touch screen and output the touch signal to the main control interface so that the main control device can perceive the touch operation of the operator.

[0036] As an optional embodiment of the present invention, Figure 1 As shown, the domain control unit 100 includes a first controller and a second controller, the first controller is electrically connected to the second controller, and both the first controller and the second controller are microcontroller units (MCUs).

[0037] In the embodiment of the present invention, the domain control unit 100 adopts a dual MCU architecture, so that the first controller and the second controller can verify the operation results with each other, ensuring the accuracy of the feedback signal output by the domain control unit 100 to the main control device.

[0038] As an optional embodiment of the present invention, Figure 1 As shown, the domain control device also includes at least one device control interface arranged on the domain control circuit board 10, and the device control interface is used to connect to the electrical equipment on the transport vehicle. The domain control unit has at least one control output terminal, and the control output terminal is electrically connected to the device control interface. The domain control unit 100 is also used to send a device control signal to the corresponding device control interface according to the device scheduling signal received by the main control interface.

[0039] Optionally, the electrical equipment may include a buzzer, a turn signal, a lighting lamp, an indicator light, etc.

[0040] As an optional implementation of the present invention, the device control interface is an Ethernet interface, a controller area network bus interface, a universal serial bus interface, an input / output interface, a universal asynchronous receiver / transmitter interface, or an analog-to-digital converter interface.

[0041] As an optional embodiment of the present invention, Figure 1 As shown, the domain control device also includes at least one button interface provided on the domain control circuit board 10, the button input end of the domain control unit is electrically connected to the button interface, the button interface is used to connect to the button device, and the domain control unit 100 is also used to detect the status of the button device through the button interface, and generate a press feedback signal when the button device is pressed, and output the press feedback signal to the main control interface.

[0042] Optionally, the button device can be an emergency stop button. When pressed, the domain control unit 100 transmits a corresponding emergency stop signal to the main control interface so that the main control device can promptly control the transport vehicle to stop running, ensuring that the safety performance of the transport vehicle meets the standard requirements of CE certification.

[0043] As an optional implementation manner of the present invention, the sensor includes a distance measuring sensor, and the sensor data includes a distance measuring result of the distance measuring sensor.

[0044] In other embodiments of the present invention, the sensor may further include other types of sensors such as an air pressure detection sensor and a temperature detection sensor.

[0045] As an optional implementation manner of the present invention, the main control interface is an Ethernet interface, a controller area network (CAN) bus interface or a universal serial bus (USB) interface.

[0046] As an optional implementation manner of the present invention, the main control interface is an Ethernet interface, a controller area network bus interface or a universal serial bus interface.

[0047] As an optional implementation manner of the present invention, the main control interface is a dual-channel controller area network bus interface.

[0048] As an optional implementation of the present invention, the display interface is a Type-C interface, which can achieve high-speed signal transmission and meet the transmission requirements of display screen information.

[0049] As an optional implementation of the present invention, the display driving circuit can be a flexible printed circuit board (FPC, also known as a flat cable), that is, the display input end of the display screen is connected to the Type-C interface through a flat cable.

[0050] As a second aspect of the present invention, a transport vehicle is provided, comprising a vehicle body, a main control device, at least one domain control device and at least one sensor, wherein at least one domain control device is the domain control device provided in an embodiment of the present invention, the main control interface and the display interface of the domain control device are electrically connected to the main control device, the sensor input interface of the domain control device is electrically connected to the sensor, and the display screen of the domain control device is used to display a corresponding screen based on a display control signal output by the main control device.

[0051] In the transport vehicle provided by the present invention, the domain control device also includes a display screen, which is communicatively connected to the display interface through a display driving circuit. The display screen can receive a display control signal from the main control device through the display interface, thereby displaying a corresponding picture. The present invention integrates the display screen into the domain control device, that is, the domain control device simultaneously realizes the display function and the function of feeding back sensor data to the main control device, so that there is no need to separately set up the domain control device and the display screen and related components such as the fixed bracket in 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.

[0052] As an optional implementation of the present invention, the sensor may include a distance measuring sensor, an air pressure detection sensor, a temperature detection sensor, etc.

[0053] As an optional embodiment of the present invention, a domain control device is respectively provided on opposite sides of the vehicle body. For example, a domain control device can be provided on each side of the front and rear sides of the moving direction of the transport vehicle, respectively used to collect sensor signals on the front and rear sides of the transport vehicle.

[0054] Optionally, only one domain control device is the domain control device provided in the embodiment of the present invention, that is, only the domain control device on one side has a display screen.

[0055] As an optional embodiment of the present invention, the transport vehicle further comprises a plurality of travel wheel modules, the travel wheel modules comprising travel wheels, motor drivers, motors and wheel axle housings, such as Figure 2 As shown, 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 through a motor signal cable.

[0056] In the embodiment of the present invention, the motor and the motor driver are designed as an integrated whole housed in the wheel axle housing, thereby simplifying the external interface structure of the traveling wheel module and simplifying the communication and power supply lines.

[0057] 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.

[0058] 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.

[0059] 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 domain control device for a transport vehicle, comprising a domain control circuit board and a domain control unit (100) arranged on the domain control circuit board (10), a main control interface and at least one sensor input interface, wherein a main control communication terminal of the domain control unit is electrically connected to the main control interface, and a sensor signal input terminal of the domain control unit (100) is electrically connected to the sensor input interface, characterized in that: The domain control device further includes a display screen, a display driving circuit and a display interface. The display interface is provided on the control circuit board, and a display input terminal of the display screen is electrically connected to the display interface through the display driving circuit.

2. The domain control device according to claim 1, characterized in that The domain control device further comprises a touch screen, the touch screen is stacked with the display screen, and the touch signal input terminal of the domain control unit (100) is electrically connected to the touch screen.

3. The domain control device according to claim 1, wherein: The domain control unit (100) comprises a first controller and a second controller, the first controller is electrically connected to the second controller, and both the first controller and the second controller are micro control units.

4. The domain control device according to any one of claims 1 to 3, characterized in that: The domain control device further comprises at least one device control interface provided on the domain control circuit board (10); the domain control unit (100) has at least one control output terminal, and the control output terminal is electrically connected to the device control interface; the device control interface is used to connect to an electrical device on the transport vehicle.

5. The domain control device according to any one of claims 1 to 3, characterized in that: The domain control device further comprises at least one button interface provided on the domain control circuit board (10); a button input terminal of the domain control unit (100) is electrically connected to the button interface; and the button interface is used to connect to a button device.

6. The domain control device according to any one of claims 1 to 3, characterized in that: The main control interface is a dual-channel controller area network bus interface.

7. The domain control device according to any one of claims 1 to 3, characterized in that: The display interface is a Type-C interface.

8. A transport vehicle comprising a vehicle body, a main control device, at least one domain control device and at least one sensor, characterized in that: At least one of the domain control devices is the domain control device according to any one of claims 1 to 7, the main control interface and the display interface of the domain control device are electrically connected to the main control device, and the sensor input interface of the domain control device is electrically connected to the sensor.

9. The transport vehicle according to claim 8, characterized in that: A domain control device is respectively provided on two opposite sides of the vehicle body.

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 main control device.

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