Automatic guided vehicle control module and automatic guided vehicle

Abstract

The embodiment of the utility model provides an automatic guided vehicle control module and an automatic guided vehicle. The automatic guided vehicle control module comprises a first board card and a second board card, the first board card comprises a first control module, a first function module, a first interface module, a first connection module and a power supply module; the second board card comprises a second control module, a second function module, a second interface module and a second connection module; and the first connecting module is connected with the second connecting module. The control module, the function module and the interface module of the automatic guiding vehicle are integrated on the first board card and the second board card, the first board card and the second board card are connected in a stacked mode through the connecting module, the internal structure of the automatic guiding vehicle is simplified, the internal space of the automatic guiding vehicle is saved, and miniaturization of the automatic guiding vehicle is facilitated.

Description

Technical Field

[0001] This utility model relates to the field of automated guided vehicles, and in particular to an automated guided vehicle control module and an automated guided vehicle. Background Technology

[0002] AGV (Automated Guided Vehicle), also known as automated guided vehicle or automated guided transport vehicle, is an industrial vehicle that loads goods automatically or manually, travels automatically along a set route or pulls a cargo trolley to a designated location, and then loads and unloads goods automatically or manually. An AGV typically consists of multiple functional modules, each with its own protective and heat dissipation enclosure. AGVs with many modules tend to have a more crowded internal layout and more complex wiring connections. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide an automated guided vehicle (AGV) control module and an AGV, thereby simplifying the internal structure of the AGV. The specific technical solution is as follows:

[0004] This utility model provides an automated guided vehicle control module, including:

[0005] First board, second board;

[0006] The first board includes a first control module, a first function module, a first interface module, a first connection module, and a power module; the second board includes a second control module, a second function module, a second interface module, and a second connection module.

[0007] The first control module is connected to the first functional module, the first interface module, and the first connection module, respectively; the power supply module is connected to the first control module, the first functional module, and the first connection module, respectively; the second control module is connected to the second functional module, the second interface module, and the second connection module, respectively.

[0008] The first connection module is connected to the second connection module, wherein the first control module is connected to the second control module through the first connection module and the second connection module, and the power module is connected to the second control module and the second functional module through the first connection module and the second connection module.

[0009] In one possible implementation, the first control module includes: a first microcontroller unit and a second microcontroller unit;

[0010] The first microcontroller unit is connected to the second microcontroller unit. The first microcontroller unit is also connected to the first functional module, the first interface module, the first connection module, and the power module. The second microcontroller unit is also connected to the first functional module, the first interface module, the first connection module, and the power module.

[0011] In one possible implementation, the first functional module includes at least one of the following:

[0012] A first reset circuit is connected to the first microcontroller unit, the second microcontroller unit, and the power module, respectively.

[0013] A first clock circuit is connected to the first microcontroller unit, the second microcontroller unit, and the power module, respectively.

[0014] The gyroscope circuit is connected to the first microcontroller unit, the second microcontroller unit, and the power module.

[0015] In one possible implementation, the first interface module includes at least one of the following:

[0016] A serial data transmission interface is connected to the first microcontroller unit and the second microcontroller unit, respectively.

[0017] A general-purpose input / output interface, which is connected to the first microcontroller unit and the second microcontroller unit respectively;

[0018] A driver interface is provided, which is connected to the first microcontroller unit and the second microcontroller unit respectively.

[0019] A debugging interface is provided, which is connected to the first microcontroller unit and the second microcontroller unit respectively.

[0020] A battery interface is provided, which is connected to the power module.

[0021] In one possible implementation, the second control module includes: a system-on-a-chip;

[0022] The system-on-a-chip is connected to the first control module and the power module through the first connection module and the second connection module.

[0023] In one possible implementation, the second functional module includes at least one of the following:

[0024] The second reset circuit is connected to the system-on-a-chip and is connected to the power module through the first connection module and the second connection module.

[0025] The second clock circuit is connected to the system-on-a-chip and is connected to the power module through the first connection module and the second connection module.

[0026] A switch circuit is connected to the second interface module and the system-on-a-chip, and is also connected to the power module through the first connection module and the second connection module.

[0027] A camera circuit, which is connected to the system-on-a-chip and connected to the power module through the first connection module and the second connection module;

[0028] A wireless network circuit, which is connected to the system-on-a-chip and connected to the power module through the first connection module and the second connection module;

[0029] A memory circuit, which is connected to the system-on-a-chip and connected to the power module through the first connection module and the second connection module;

[0030] An audio circuit is connected to the system-on-a-chip and to the power supply module via the first connection module and the second connection module.

[0031] In one possible implementation, the second interface module includes at least one of a serial communication interface, an Ethernet interface, a speaker interface, and an antenna interface;

[0032] The serial communication interface is connected to the system-on-chip.

[0033] The Ethernet interface is connected to the switch circuitry;

[0034] The speaker interface is connected to the audio circuit.

[0035] The antenna interface is connected to the wireless network circuit.

[0036] In one possible implementation, the memory circuit includes at least one of the following:

[0037] An embedded multimedia card circuit is connected to the system-on-a-chip and is connected to the power module through the first connection module and the second connection module.

[0038] A double-rate synchronous dynamic random access memory circuit is provided, which is connected to the system-on-a-chip and connected to the power supply module through the first connection module and the second connection module.

[0039] This utility model also provides an automated guided vehicle, including any of the automated guided vehicle control modules described in this utility model.

[0040] In one possible implementation, the second functional module includes a first camera circuit and a second camera circuit, and the automated guided vehicle further includes a first camera and a second camera;

[0041] The first camera is located on the upper surface of the automated guided vehicle and is connected to the first camera circuit; the second camera is located on the lower surface of the automated guided vehicle and is connected to the second camera circuit.

[0042] The automated guided vehicle (AGV) control module provided in this embodiment includes: a first board and a second board; the first board includes a first control module, a first functional module, a first interface module, a first connection module, and a power supply module; the second board includes a second control module, a second functional module, a second interface module, and a second connection module; the first control module is connected to the first functional module, the first interface module, and the first connection module respectively, and the power supply module is connected to the first control module, the first functional module, and the first connection module respectively; the second control module is connected to the second functional module, the second interface module, and the second connection module respectively; the first connection module is connected to the second connection module, wherein the first control module is connected to the second control module through the first connection module and the second connection module, and the power supply module is connected to the second control module and the second functional module through the first connection module and the second connection module. Integrating the AGV control module, functional module, and interface module on the first and second boards, and stacked together through the connection module, simplifies the internal structure of the AGV, saves internal space, and facilitates miniaturization of the AGV.

[0043] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0045] Figure 1 This is a schematic diagram of the mechanical structure of the automatic guided vehicle control module of this utility model;

[0046] Figure 2 This is a first schematic diagram of the automatic guided vehicle control module of this utility model;

[0047] Figure 3 This is a first schematic diagram of the first board in the automatic guided vehicle control module of this utility model;

[0048] Figure 4 This is a second schematic diagram of the first board in the automatic guided vehicle control module of this utility model;

[0049] Figure 5 This is a third schematic diagram of the first board in the automatic guided vehicle control module of this utility model;

[0050] Figure 6 This is a second schematic diagram of the automatic guided vehicle control module of this utility model;

[0051] Figure 7 This is a third schematic diagram of the automatic guided vehicle control module of this utility model;

[0052] Figure 8 This is a schematic diagram of the second board in the automatic guided vehicle control module of this utility model;

[0053] Figure 9 This is the fourth schematic diagram of the automatic guided vehicle control module of this utility model. Detailed Implementation

[0054] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application are within the protection scope of the present utility model.

[0055] AGV (Automated Guided Vehicle), also known as automated guided vehicle or automated guided transport vehicle, is an industrial vehicle that loads goods automatically or manually, travels automatically along a set route or pulls a cargo trolley to a designated location, and then loads and unloads goods automatically or manually. An AGV typically consists of multiple functional modules, each with its own protective and heat dissipation enclosure. AGVs with many modules tend to have a crowded internal layout and complex wiring connections, which not only affects aesthetics but also increases the risk of safety hazards. Changing the type or connection of functional modules is also cumbersome. In small-sized AGVs, space constraints limit the number of internal modules that can be installed, making this hardware architecture unsuitable for small-sized AGVs with multiple modules.

[0056] In related technologies, the batteries of AGVs cannot directly power the control module, cannot directly collect navigation images and videos, and do not integrate sound alarm sensors. They require separate power modules, external cameras, external speakers, and other structures, making the internal structure of AGVs more complicated.

[0057] To simplify the internal structure of automated guided vehicles, this invention provides an automated guided vehicle control module. In order to facilitate the illustration of the connection relationship, the connections between the modules are represented by wire harnesses in the accompanying drawings. In reality, the connections can be wiring connections on a circuit board or other connection methods.

[0058] See the external structure of the automated guided vehicle control module. Figure 1 The first connection module 104 and the second connection module 204 are connected accordingly, and the first board 100 and the second board 200 are stacked and connected. The interface modules on the first board 100 and the second board 200 can be distributed along the front and rear of the automated guided vehicle (Front is the direction of the front of the automated guided vehicle, and Rear is the direction of the rear of the automated guided vehicle). The first connection module 104 and the second connection module 204 can be located on the side of the automated guided vehicle (left or right of the direction of travel of the automated guided vehicle). The position of each module can be adjusted according to actual needs. The interface modules are set on the side near the front or rear of the automated guided vehicle to connect to the functional components of the automated guided vehicle, such as sound sensors and cameras.

[0059] The following is a detailed description of the automated guided vehicle control module in this utility model. (See attached image.) Figure 2 ,include:

[0060] First board 100, second board 200;

[0061] The first board 100 includes a first control module 101, a first function module 102, a first interface module 103, a first connection module 104, and a power module 105; the second board 200 includes a second control module 201, a second function module 202, a second interface module 203, and a second connection module 204.

[0062] The first control module 101 is connected to the first functional module 102, the first interface module 103, and the first connection module 104 respectively; the power module 105 is connected to the first control module 101, the first functional module 102, and the first connection module 104 respectively; the second control module 201 is connected to the second functional module 202, the second interface module 203, and the second connection module 204 respectively.

[0063] The first connection module 104 is connected to the second connection module 204. The first control module 101 is connected to the second control module 201 through the first connection module 104 and the second connection module 204. The power module 105 is connected to the second control module 201 and the second function module 202 through the first connection module 104 and the second connection module 204.

[0064] The first functional module 102 is used to implement specified functions of the automated guided vehicle, such as vehicle attitude detection and resetting the first control module 101. The first control module 101 is connected to the first functional module 102 and can exchange data. In some examples, the first functional module 102 can support the normal operation of the first control module 101; for example, the first functional module 102 is a clock circuit that provides a clock signal for the operation of the first control module 101. In other examples, the first functional module 102 can cooperate with the first control module 101 to implement specified functions; for example, the first functional module 102 is a gyroscope circuit, and the first control module 101 calculates the current attitude of the automated guided vehicle based on the data detected by the gyroscope circuit. The first interface module 103 is used to connect customized functional devices, which can be customized according to actual needs; for example, functional devices can be buzzers, pressure sensors, indicator lights, etc.

[0065] The second functional module 202 is used to implement specified functions of the automated guided vehicle, such as audio playback and resetting the second control module 201. The second control module 201 is connected to the second functional module 202 and can exchange data. In some examples, the second functional module 202 can support the normal operation of the second control module 201; for example, the second functional module 202 is a memory circuit that provides storage space for the operation of the second control module 201. In other examples, the second functional module 202 can cooperate with the second control module 201 to implement specified functions; for example, the second functional module 202 is an audio circuit, and the second control module 201 controls the audio circuit to play audio. The second interface module 203 is used to connect customized functional devices, which can be customized according to actual needs; for example, functional devices can be infrared sensors, laser lights, displays, etc.

[0066] The first control module 101 is connected to the first connection module 104, the second control module 201 is connected to the second connection module 204, and the first connection module 104 is connected to the second connection module 204. Data communication between the first control module 101 and the second control module 201 can be achieved through the first connection module 104 and the second connection module 204. The first interface module 103 and the second interface module 203 can be located at the front or rear of the board for convenient connection to external functional devices, simplifying wiring connections. The power module 105 can interact with an external battery or charging station. The power module 105 steps down the voltage of the battery or charging station to supply power to the first control module 101 and the first functional module 102, and also supplies power to the second control module 201 and the second functional module 202 through the first connection module 104 and the second connection module 204.

[0067] The first control module 101, the first function module 102, the first interface module 103, the first connection module 104, and the power supply module 105 are integrated on the first board 100, and the second control module 201, the second function module 202, the second interface module 203, and the second connection module 204 are integrated on the second board 200. The first board 100 and the second board 200 are connected in a stacked manner through the connection module. The automatic guided vehicle control module of this utility model simplifies the internal structure of the automatic guided vehicle and reduces the space occupied by each module without reducing the number of internal modules. The internal power supply module 105 is integrated, eliminating the need for an external independent power supply module, further reducing the space occupied inside the automatic guided vehicle and facilitating the miniaturization of the automatic guided vehicle.

[0068] In one possible implementation, see Figure 3 The first control module 101 includes: a first microcontroller unit 1011 and a second microcontroller unit 1012;

[0069] The first microcontroller unit 1011 is connected to the second microcontroller unit 1012. The first microcontroller unit 1011 is also connected to the first functional module 102, the first interface module 103, the first connection module 104, and the power module 105, respectively. The second microcontroller unit 1012 is also connected to the first functional module 102, the first interface module 103, the first connection module 104, and the power module 105, respectively.

[0070] Both the first microcontroller unit 1011 and the second microcontroller unit 1012 can handle real-time motion control tasks. They serve as backups for each other; if one fails, the other can continue processing, thus improving the AGV's safety. The dual MCU (Microcontroller Unit) design complies with ISO 13849-1 (ISO 13849-1 is a general standard of the International Organization for Standardization (ISO) aimed at helping to establish sufficiently reliable mechanical safety systems) and meets overseas CE certification (Conformite Europeenne Certification). The module internally undergoes dual MCU redundancy verification to ensure the safe operation of the automated guided vehicle.

[0071] In one possible implementation, see Figure 4 The first functional module 102 includes at least one of the following:

[0072] The first reset circuit 1021 is connected to the first microcontroller unit 1011, the second microcontroller unit 1012, and the power module 105 respectively.

[0073] The first clock circuit 1022 is connected to the first microcontroller unit 1011, the second microcontroller unit 1012, and the power module 105 respectively.

[0074] The gyroscope circuit 1023 is connected to the first microcontroller unit 1011, the second microcontroller unit 1012, and the power module 105.

[0075] The first reset circuit 1021 is used to reset the first microcontroller 1011 when it malfunctions, and to reset the second microcontroller 1012 when it malfunctions. The first clock circuit 1022 provides clock signals to the first microcontroller 1011 and the second microcontroller 1012. The gyroscope circuit 1023 integrates a gyroscope sensor to acquire information such as the speed and acceleration of the AGV and upload it to the first microcontroller 1011 / second microcontroller 1012.

[0076] In one possible implementation, see Figure 5 The first interface module 103 includes at least one of the following:

[0077] The serial data transmission interface 1031 is connected to the first microcontroller 1011 and the second microcontroller 1012 respectively.

[0078] A general-purpose input / output interface 1032 is connected to the first microcontroller unit 1011 and the second microcontroller unit 1012, respectively.

[0079] The driver interface 1033 is connected to the first microcontroller 1011 and the second microcontroller 1012 respectively.

[0080] The debugging interface 1034 is connected to the first microcontroller 1011 and the second microcontroller 1012 respectively.

[0081] Battery interface 1035 is connected to power module 105.

[0082] The serial data transmission interface 1031 can be a TTL interface (Transistor-Transistor Logic), which can be used to connect an external TOF (Time of Flight) sensor. The first control module 101 can control the external TOF sensor through the TTL interface. Compared with the control module that independently sets the TOF sensor in related technologies, this simplifies the internal structure of the automated guided vehicle.

[0083] The general-purpose input / output interface 1032 is used to connect peripheral buttons and I / O (input / output) sensors of the vehicle, such as emergency stop buttons, manual / automatic buttons, reset buttons, start / stop buttons, photoelectric sensors, etc.

[0084] The driver interface 1033 is used to connect the driver of the AGV, which is used to control the drive motor of the AGV to realize the AGV's movement function.

[0085] The debugging interface 1034 is used to connect external debugging equipment during equipment failure or routine maintenance to check whether the automated guided vehicle is functioning properly.

[0086] The battery interface 1035 is the power supply interface for the automated guided vehicle control module, used to connect to an external battery or charging pile and transmit the voltage of the battery or charging pile to the power module 105. Specifically, the battery interface 1035 can be an RS-485 communication interface for communicating with the battery's BMS (Battery Management System) to obtain information such as battery power and cell temperature; or for communicating with the charging pile to control the charging and discharging of the charging pile and the charging current, and to obtain abnormal alarm information.

[0087] The first interface module 103 includes various interfaces required by the automated guided vehicle, and can support multiple forms of interfaces and protocols, not limited to the types listed in this utility model, and can be adjusted according to actual needs.

[0088] In one possible implementation, see Figure 6 The second control module 201 includes: a system-on-a-chip (SOC) 2011;

[0089] The system-on-a-chip 2011 is connected to the first control module 101 and the power supply module 105 through the first connection module 104 and the second connection module 204.

[0090] The System-on-Chip 2011 can process code reading information and location information, and perform algorithm processing, business processing and business distribution.

[0091] In one possible implementation, see Figure 7 The second functional module 202 includes at least one of the following:

[0092] The second reset circuit 2021 is connected to the system-on-a-chip 2011 and is connected to the power module 105 through the first connection module 104 and the second connection module 204.

[0093] The second clock circuit 2022 is connected to the system-on-a-chip 2011 and is connected to the power module 105 through the first connection module 104 and the second connection module 204.

[0094] The switch circuit 2023 is connected to the second interface module 203 and the system on chip 2011, and is connected to the power module 105 through the first connection module 104 and the second connection module 204.

[0095] The camera circuit 2024 is connected to the system-on-a-chip 2011 and is connected to the power module 105 through the first connection module 104 and the second connection module 204.

[0096] The wireless network circuit 2025 is connected to the system-on-a-chip 2011 and is connected to the power module 105 through the first connection module 104 and the second connection module 204.

[0097] The memory circuit 2026 is connected to the system-on-a-chip 2011 and is connected to the power module 105 through the first connection module 104 and the second connection module 204.

[0098] The audio circuit 2027 is connected to the system-on-a-chip 2011 and is connected to the power supply module 105 through the first connection module 104 and the second connection module 204.

[0099] The second reset circuit 2021 connects to an external reset button. When the automated guided vehicle (AGV) encounters an obstacle and stops or stops for an unknown reason, pressing the reset button will reset the AGV. The second clock circuit 2022 provides a clock signal to the system-on-chip (SoC) 2011. The switch circuit 2023 can connect to four network ports to connect to multiple external devices. The wireless network circuit 2025 is used to connect to a wireless network to upload the AGV's data to other devices or to wirelessly control the AGV via external devices. The memory circuit 2026 is used to store relevant data on the operation of the AGV control module. The audio circuit 2027 is used to connect to an external audio player or buzzer.

[0100] In one possible implementation, see Figure 8 The second interface module 203 includes at least one of a serial communication interface 2031, an Ethernet interface 2032, a speaker interface 2033, and an antenna interface 2034;

[0101] The serial communication interface 2031 is connected to the system-on-chip 2011;

[0102] Ethernet interface 2032 is connected to switch circuit 2023;

[0103] The speaker interface 2033 is connected to the audio circuit 2027;

[0104] Antenna interface 2034 is connected to wireless network circuit 2025.

[0105] The serial communication interface 2031 can be RS-232 (standard serial port) or RS-485 for connecting external sensor devices; the Ethernet interface 2032 is used to connect fiber optic or ordinary network cables; the speaker interface 2033 connects to an external audio player or buzzer, and the audio circuit 2027 controls the audio player or buzzer to turn on / off through the speaker interface 2033; the antenna interface 2034 connects to an external antenna to enhance the wireless signal when the automated guided vehicle is outside the wireless signal coverage area. Common antenna interfaces include SMA interface (SubMiniature version A, the most common antenna interface; there are two forms of SMA interface, the standard SMA is "external thread + hole" on one end and "internal thread + pin" on the other end), TNC interface (full name TNC reverse polarity male connector, TNC interface has a larger outer conductor and higher transmission frequency, more suitable for high-speed data transmission and high bandwidth applications), and MMCX interface (MMCX interface is a coaxial RF connector, which adopts an insertion and clamping connection method and can rotate 360 ​​degrees).

[0106] In one possible implementation, see Figure 9 The memory circuit 2026 includes at least one of the following:

[0107] Embedded Multi Media Card (EMMC) 20261 is connected to System on Chip 2011 and is connected to Power Module 105 through First Connection Module 104 and Second Connection Module 204.

[0108] The Double Data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM) 20262 is connected to the System-on-Chip 2011 and is connected to the power supply module 105 through the first connection module 104 and the second connection module 204.

[0109] The Embedded Multimedia Card Circuit 20261 consists of an embedded storage solution with an MMC (MultiMedia Card) interface, flash memory device, and main controller, all in a small BGA (Ball Grid Array) package. The EMMC offers fast and scalable performance.

[0110] The 20262 double-rate synchronous dynamic random-access memory circuit is an SDRAM (Synchronous Dynamic Random-access Memory) with double the data transfer rate. Its data transfer speed is twice that of the system clock frequency. Due to the increased speed, its transmission performance is superior to that of traditional SDRAM.

[0111] This utility model embodiment also provides an automated guided vehicle, including any of the automated guided vehicle control modules described in this utility model.

[0112] The automated guided vehicle provided by this utility model has a simple internal structure, simple wiring harness, and high safety.

[0113] In one possible implementation, the second functional module includes a first camera circuit and a second camera circuit, and the automated guided vehicle further includes a first camera and a second camera;

[0114] The first camera is located on the upper surface of the automated guided vehicle and is connected to the first camera circuit; the second camera is located on the lower surface of the automated guided vehicle and is connected to the second camera circuit.

[0115] The first camera is used to collect information such as ground marking codes and ground textures. The first camera circuit is used to process the information collected by the first camera and send the processed information to the automated guided vehicle control module to control the movement of the automated guided vehicle. The second camera is used to collect information such as the QR code of the goods. The second camera circuit is used to process the information collected by the second camera and send the processed information to the automated guided vehicle control module to perform operations such as picking up goods.

[0116] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. An automated guided vehicle control module, characterized in that, include: First board, second board; The first board includes a first control module, a first function module, a first interface module, a first connection module, and a power module; the second board includes a second control module, a second function module, a second interface module, and a second connection module. The first control module is connected to the first functional module, the first interface module, and the first connection module, respectively; the power supply module is connected to the first control module, the first functional module, and the first connection module, respectively; the second control module is connected to the second functional module, the second interface module, and the second connection module, respectively. The first connection module is connected to the second connection module, wherein the first control module is connected to the second control module through the first connection module and the second connection module, and the power supply module is connected to the second control module and the second functional module through the first connection module and the second connection module.

2. The automated guided vehicle control module according to claim 1, characterized in that, The first control module includes: a first microcontroller unit and a second microcontroller unit; The first microcontroller unit is connected to the second microcontroller unit. The first microcontroller unit is also connected to the first functional module, the first interface module, the first connection module, and the power module. The second microcontroller unit is also connected to the first functional module, the first interface module, the first connection module, and the power module.

3. The automated guided vehicle control module according to claim 2, characterized in that, The first functional module includes at least one of the following: A first reset circuit is connected to the first microcontroller unit, the second microcontroller unit, and the power module, respectively. A first clock circuit is connected to the first microcontroller unit, the second microcontroller unit, and the power module, respectively. The gyroscope circuit is connected to the first microcontroller unit, the second microcontroller unit, and the power module.

4. The automated guided vehicle control module according to claim 2, characterized in that, The first interface module includes at least one of the following: A serial data transmission interface is connected to the first microcontroller unit and the second microcontroller unit, respectively. A general-purpose input / output interface, which is connected to the first microcontroller unit and the second microcontroller unit respectively; A driver interface is provided, which is connected to the first microcontroller unit and the second microcontroller unit respectively. A debugging interface is provided, which is connected to the first microcontroller unit and the second microcontroller unit respectively. A battery interface is provided, which is connected to the power module.

5. The automated guided vehicle control module according to claim 1, characterized in that, The second control module includes: a system-on-a-chip; The system-on-a-chip is connected to the first control module and the power module through the first connection module and the second connection module.

6. The automated guided vehicle control module according to claim 5, characterized in that, The second functional module includes at least one of the following: The second reset circuit is connected to the system-on-a-chip and is connected to the power module through the first connection module and the second connection module. The second clock circuit is connected to the system-on-a-chip and is connected to the power module through the first connection module and the second connection module. A switch circuit is connected to the second interface module and the system-on-a-chip, and is also connected to the power module through the first connection module and the second connection module. A camera circuit, which is connected to the system-on-a-chip and connected to the power module through the first connection module and the second connection module; A wireless network circuit, which is connected to the system-on-a-chip and connected to the power module through the first connection module and the second connection module; A memory circuit, which is connected to the system-on-a-chip and connected to the power module through the first connection module and the second connection module; An audio circuit is connected to the system-on-a-chip and to the power supply module via the first connection module and the second connection module.

7. The automated guided vehicle control module according to claim 6, characterized in that, The second interface module includes at least one of a serial communication interface, an Ethernet interface, a speaker interface, and an antenna interface; The serial communication interface is connected to the system-on-chip. The Ethernet interface is connected to the switch circuitry; The speaker interface is connected to the audio circuit. The antenna interface is connected to the wireless network circuit.

8. The automated guided vehicle control module according to claim 6, characterized in that, The memory circuit includes at least one of the following: An embedded multimedia card circuit is connected to the system-on-a-chip and to the power module through the first connection module and the second connection module. A double-rate synchronous dynamic random access memory (DRAM) sub-circuit is provided, which is connected to the system-on-a-chip and connected to the power supply module through the first connection module and the second connection module.

9. An automated guided vehicle, characterized in that, Includes the automated guided vehicle control module as described in any one of claims 1-8.

10. The automated guided vehicle according to claim 9, characterized in that, The second functional module includes a first camera circuit and a second camera circuit, and the automated guided vehicle further includes: a first camera and a second camera; The first camera is located on the upper surface of the automated guided vehicle and is connected to the first camera circuit; the second camera is located on the lower surface of the automated guided vehicle and is connected to the second camera circuit.

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