Intelligent trolley control device

Abstract

The utility model discloses an intelligent trolley control device, which adopts a control mainboard, an inertial navigation small board, an FPC (Flexible Printed Circuit) connecting line and foam, the inertial navigation small board is attached to the control mainboard through the foam, the inertial navigation small board comprises a gyroscope accelerometer and a magnetometer, and the control mainboard is electrically connected with the gyroscope accelerometer and the magnetometer respectively through the FPC connecting line. According to the utility model, the split type design and the FPC connecting line connection are adopted, so that the sensitivity of the system to high-frequency noise generated by the motor and external disturbance in the driving process is reduced, and the stability and the anti-noise performance of the system are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a trolley control technical field especially discloses an intelligent trolley control device. BACKGROUND

[0002] At present, the intelligent trolleys on the market are various in types and various in functions. The inertial navigation system on the market usually adopts the design of IMU (Inertial Measurement Unit) module + pin connection based on MPU6050 + HMC5883L. The combination has poor performance, low accuracy and poor stability.

[0003] Therefore, the poor inertial navigation system accuracy of the existing intelligent trolley is a technical problem to be solved at present. INVENTION CONTENTS

[0004] The utility model provides a kind of intelligent trolley, to solve the technical problem of the poor inertial navigation system accuracy of the existing intelligent trolley.

[0005] The utility model relates to a kind of intelligent trolley control device, including control mainboard, inertial navigation system small board, FPC (Flexible Printed Circuit, flexible circuit board) connecting line and bubble cotton, inertial navigation system small board is attached to control mainboard by bubble cotton, inertial navigation system small board includes gyroscope accelerometer and magnetometer, and control mainboard is respectively connected with gyroscope accelerometer and magnetometer by FPC connecting line.

[0006] Further, the control mainboard includes MCU (Microcontroller Unit, microcontroller unit), and the MCU is respectively connected with gyroscope accelerometer and magnetometer by FPC connecting line.

[0007] Further, the MCU uses STM32F405RGT6 single-chip microcomputer.

[0008] Further, the control mainboard is equipped with slot, and FPC connecting line passes through slot, and one end of FPC connecting line is connected with control mainboard, and the other end of FPC connecting line is connected with inertial navigation system small board.

[0009] Further, the control mainboard is equipped with first socket, and inertial navigation system small board is equipped with second socket, and first socket is connected with MCU, and second socket is respectively connected with gyroscope accelerometer and magnetometer;Two ends of FPC connecting line are respectively inserted in first socket and second socket.

[0010] Further, the first socket is located at the front of control mainboard, and the second socket is located at the front of inertial navigation system small board, and one side of bubble cotton is attached to the back of control mainboard, and the other side of bubble cotton is attached to the back of inertial navigation system small board.

[0011] Further, the gyroscope accelerometer comprises a six-axis IMU (Inertial Measurement Unit) module, and the model of the six-axis IMU module is ICM45686.

[0012] Further, the gyroscope accelerometer comprises a magnetometer chip, and the model of the magnetometer chip is LIS3MDLTR.

[0013] The utility model discloses obtained beneficial effect is:

[0014] The utility model provides a kind of intelligent trolley control device, using control mainboard, inertial navigation small board, FPC connecting line and bubble cotton, inertial navigation small board is attached to control mainboard by bubble cotton, and inertial navigation small board includes gyroscope accelerometer and magnetometer, and control mainboard is electrically connected with gyroscope accelerometer and magnetometer respectively by FPC connecting line.The intelligent trolley control device provided by the utility model, the utility model relates to a kind of intelligent trolley control device, inertial navigation small board integrates high-precision inertial navigation device, can be used in the positioning of the need high-precision indoor GPS (Global Positioning System) environment, and navigation precision can be significantly improved in cooperation with upper layer SLAM (Simultaneous Localization and Mapping) navigation;Inertial navigation device adopts split design+FPC connecting line connection, guarantees the sensitivity of high-frequency noise generated by motor in system driving process and external disturbance to drop, improves system stability and anti-noise performance;In physical structure design aspect, inertial navigation small board+bubble cotton buffer+FPC connecting line connection type design is used, part of high-frequency noise and heat transfer from controller mainboard are physically isolated, so that the long-time drift and zero offset of inertial navigation system have been partly improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 It is the functional block diagram of an embodiment of the utility model a kind of intelligent trolley control device;

[0016] Fig. 2 It is the circuit diagram of control mainboard in the utility model a kind of intelligent trolley control device;

[0017] Fig. 3 It is the circuit diagram of inertial navigation small board in the utility model a kind of intelligent trolley control device.

[0018] EXPLANATION OF DRAWINGS:

[0019] 10, control mainboard;20, inertial navigation small board;30, FPC connecting line. DETAILED DESCRIPTION

[0020] For better understanding of the above technical solutions, the above technical solutions will be described in detail below in combination with the drawings and specific embodiments of the specification.

[0021] As Figs. 1-3 shown, the utility model discloses a first embodiment of intelligent dolly control device, including control mainboard 10, inertial navigation small board 20, FPC connecting line 30 and bubble cotton, and inertial navigation small board 20 is attached to control mainboard 10 through bubble cotton, and inertial navigation small board includes gyroscope accelerometer and magnetometer, and control mainboard is connected with gyroscope accelerometer and magnetometer electricity respectively through FPC connecting line.In this embodiment, bubble cotton adopts EVA (Ethylene Vinyl Acetate Copolymer, ethylene-vinyl acetate copolymer) bubble cotton.

[0022] Further, see Figs. 1-3 , the control device of intelligent dolly provided in this embodiment, control mainboard includes MCU, and MCU is connected with gyroscope accelerometer and magnetometer electricity respectively through FPC connecting line.In this embodiment, MCU adopts STM32F405RGT6 single-chip microcomputer.Control mainboard 10 is equipped with the slot, and FPC connecting line 30 passes through the slot, and one end of FPC connecting line 30 is connected with control mainboard 10 electricity, and the other end of FPC connecting line 30 is connected with inertial navigation small board 20.

[0023] Preferably, see Figs. 1-3 , the control device of intelligent dolly provided in this embodiment, control mainboard 10 is equipped with the first socket, and inertial navigation small board 20 is equipped with the second socket, and the first socket is connected with MCU electricity, and the second socket is connected with gyroscope accelerometer and magnetometer electricity respectively;Two ends of FPC connecting line 30 are inserted respectively in the first socket and the second socket.Specifically, the first socket is arranged on the front of control mainboard 10, and the second socket is arranged on the front of inertial navigation small board 20, and one side of bubble cotton is attached to the back of control mainboard 10, and the other side of bubble cotton is attached to the back of inertial navigation small board 20.Gyroscope accelerometer includes six-axis IMU module, and gyroscope accelerometer includes magnetometer chip, and gyroscope accelerometer includes magnetometer chip, and in this embodiment, the model of six-axis IMU module is ICM45686.The model of magnetometer chip is LIS3MDLTR.

[0024] As Figs. 1-3 shown, the control device of intelligent dolly provided in this embodiment, its working principle is as follows:

[0025] The inertial navigation part of the controller uses the ICM45686 six-axis IMU module with high cost performance and advanced technology on the market, combined with the LIS3MDLTR magnetometer chip. Thanks to the excellent performance of the ICM45686 chip, the zero offset, temperature stability, non-linear error, non-orthogonal error, and scale factor error of the inertial navigation data are incomparable to those based on the MPU6050 chip on the market.

[0026] In terms of physical structure design, the inertial navigation system uses a small plate 20 + EVA foam buffer + FPC connecting line connection design, which physically isolates part of the high-frequency noise and heat transfer from the controller mainboard, partially improving the long-term drift and zero offset of the inertial navigation system.

[0027] In terms of data communication, both sensors use SPI (Serial Peripheral Interface) to communicate with the mainboard, and are equipped with interrupt and external clock connection ports. Compared with the I2C (Inter-Integrated Circuit) interface used on the market for communication, the data throughput of SPI is larger (here SPI can reach 10Mbit / s), allowing the MCU more time to handle other transactions. The introduction of the interrupt interface of the two sensors allows the software to be configured in asynchronous reading mode, which reads immediately after the module data collection is completed, and then sends the data to the AHRS for processing, which can reduce the time interval from data preparation to MCU reading as much as possible, and obtain lower latency data. The MCU can also configure the MCO 32.768KHz clock output, which is used as the main clock of ICM45686, which can improve the clock stability of the module from 50000PPM to about 20PPM, and improve the data accuracy of the gyroscope.

[0028] The embodiment provides a kind of intelligent car control device, using control mainboard, inertial navigation small board, FPC connecting line and bubble cotton, inertial navigation small board is attached to control mainboard by bubble cotton, inertial navigation small board includes gyroscope accelerometer and magnetometer, control mainboard is respectively electrically connected with gyroscope accelerometer and magnetometer by FPC connecting line.This embodiment provides the intelligent car control device of the present application relates to a kind of intelligent car control device, inertial navigation small board integrates high-precision inertial navigation device, can be used in the positioning of the high-precision indoor GPS-free environment, cooperate with upper SLAM navigation, can significantly improve navigation accuracy;Inertial navigation device adopts split design+FPC connecting line connection, guarantee system sensitivity to high-frequency noise generated by motor and external disturbance in driving process, improve system stability and noise immunity;In the physical structure design aspect, inertial navigation small board+foam buffer+FPC connecting line connection type design is used, some high-frequency noise is physically isolated and the heat transfer from controller mainboard, so that the long-time drift and zero offset of inertial navigation system have been partly improved.

[0029] Although the preferred embodiments of the present application have been described, those skilled in the art, once they know the basic creative concept, can make additional changes and modifications to these embodiments. Therefore, the appended claims are intended to include the preferred embodiments and all changes and modifications falling within the scope of the present application. Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application also intends to include these modifications and variations.

Claims

1. An intelligent trolley control device, characterized by, The application relates to a control main plate (10), an inertial navigation small plate (20), an FPC connecting line (30) and foam, wherein the inertial navigation small plate (20) is attached to the control main plate (10) through the foam, the inertial navigation small plate comprises a gyroscope accelerometer and a magnetometer, and the control main plate is electrically connected with the gyroscope accelerometer and the magnetometer through the FPC connecting line.

2. The golf cart control device of claim 1, wherein, The control main plate comprises an MCU, and the MCU is electrically connected with the gyroscope accelerometer and the magnetometer through the FPC connecting line.

3. The golf cart control device of claim 2, wherein, The MCU adopts an STM32F405RGT6 single-chip microcomputer.

4. The golf cart control device of claim 2, wherein, The control main plate (10) is provided with a slot, the FPC connecting line (30) passes through the slot, one end of the FPC connecting line (30) is electrically connected with the control main plate (10), and the other end of the FPC connecting line (30) is connected with the inertial navigation small plate (20).

5. The golf cart control device of claim 2, wherein, The control main plate (10) is provided with a first socket, the inertial navigation small plate (20) is provided with a second socket, the first socket is electrically connected with the MCU, the second socket is electrically connected with the gyroscope accelerometer and the magnetometer, and the two ends of the FPC connecting line (30) are respectively inserted into the first socket and the second socket.

6. The golf cart control device of claim 5, wherein, The first socket is arranged on the front surface of the control main plate (10), the second socket is arranged on the front surface of the inertial navigation small plate (20), one side of the foam is attached to the back surface of the control main plate (10), and the other side of the foam is attached to the back surface of the inertial navigation small plate (20).

7. The golf cart control device of claim 1, wherein, The gyroscope accelerometer comprises a six-axis IMU module, and the model of the six-axis IMU module is ICM45686.

8. The golf cart control device of claim 1, wherein, The gyroscope accelerometer comprises a magnetometer chip, and the model of the magnetometer chip is LIS3MDLTR.

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