Mainboard special for robot navigation

Abstract

The utility model provides a main board special for robot navigation, which is applied to the technical field of main boards and comprises an upper-layer core board and a lower-layer carrier board, and the upper-layer core board and the lower-layer carrier board perform signal transmission through an embedded system module; the upper core board comprises LPDDR4X memory particles, EMMC storage particles, an IMU inertial navigation module, a GNSS positioning module and a core board module, and the LPDDR4X memory particles, the EMMC storage particles, the IMU inertial navigation module and the GNSS positioning module are electrically connected with the core board module; the lower carrier plate comprises a CSI camera module, a GMSL camera module, an FAKRA antenna module, a WIFI module, an RTC clock device and a carrier plate module. The CSI camera module, the GMSL camera module, the FAKRA antenna module, the WIFI module and the RTC clock device are electrically connected with the carrier plate module. The utility model aims to improve the integration level and the flexibility of the mainboard.

Description

Technical Field

[0001] This utility model relates to the field of motherboard technology, and in particular to a dedicated motherboard for robot navigation. Background Technology

[0002] With the rapid development of robotics technology, the demand for navigation planning in intelligent robots is increasing. To achieve high-precision and high-reliability navigation functions, intelligent robots typically rely on multiple sensors and communication interfaces. The efficient integration of these communication interfaces and sensors is crucial for the navigation performance of intelligent robots.

[0003] However, most smart robot motherboards on the market have certain limitations in hardware design. Most motherboards cannot accommodate multiple functional interfaces at the same time, which limits the compatibility of smart robots with peripherals and the flexibility of usage scenarios.

[0004] In summary, improving the integration and flexibility of robot navigation motherboards has become a pressing technical problem that needs to be solved in this field. Utility Model Content

[0005] This application proposes a dedicated motherboard for robot navigation, aiming to improve the integration and flexibility of robot navigation motherboards.

[0006] To achieve the above objectives, this application proposes a dedicated motherboard for robot navigation, which includes an upper core board and a lower carrier board, wherein the upper core board and the lower carrier board transmit signals through an embedded system module.

[0007] The upper-layer core board includes LPDDR4X (Low Power Double Data Rate 4X) memory chips, EMMC (embedded Multi Media Card) storage chips, IMU (Inertial Measurement Unit) inertial navigation module, GNSS (Global Navigation Satellite System) positioning module, and core board module. The LPDDR4X memory chips, EMMC storage chips, IMU inertial navigation module, and GNSS positioning module are electrically connected to the core board module.

[0008] The lower carrier board includes a CSI (Camera Serial Interface) camera module, a GMSL (Gigabit Multimedia Serial Link) camera module, a FAKRA (FAchKReis Automobil) antenna module, a WIFI (Wireless Fidelity) module, an RTC (Real-Time Clock) clock device, and a carrier board module, wherein the CSI camera module, GMSL camera module, FAKRA antenna module, WIFI module, and RTC clock device are electrically connected to the carrier board module.

[0009] In one embodiment, the IMU inertial navigation module communicates with the core board module via the SPI (Serial Peripheral Interface) protocol;

[0010] The IMU inertial navigation module includes an accelerometer and a gyroscope.

[0011] In one embodiment, the GNSS positioning module and the core board module communicate via a UART (Universal Asynchronous Receiver / Transmitter) serial port.

[0012] In one embodiment, the CSI camera module includes four CSI cameras, the GMSL camera module includes two GMSL cameras, and the CSI cameras and the GMSL cameras are connected by a pad stack design.

[0013] In one embodiment, the lower-layer carrier board further includes a GMAC (Gigabit Media Access Controller) network port, an SPI interface, a UART interface, an I2C (Inter-Integrated Circuit) interface, a MIPI_DSI (Mobile Industry Processor Interface-Display Serial Interface) interface, a GPIO (General Purpose Input / Output) interface, a USB 3.0 (Universal Serial Bus 3.0) interface, a USB 2.0 (Universal Serial Bus 2.0) interface, and a DCIN (Direct Current Input) power interface.

[0014] In one embodiment, the FAKRA antenna module includes a first FAKRA antenna and a second FAKRA antenna;

[0015] The first FAKRA antenna is connected to the carrier module;

[0016] The second FAKRA antenna is connected to the carrier module via a GNSS receiver.

[0017] In one embodiment, the lower carrier board further includes a CAN FD (Controller Area Network with Flexible Data-Rate) interface;

[0018] The CAN FD interface is connected to the carrier board module via an SPI-to-CAN (Controller Area Network) chip.

[0019] In one embodiment, the embedded system module includes GMAC, MIPI_CSI (Mobile Industry Processor Interface-Camera Serial Interface), USB 2.0, USB 3.0, SPI, I2C, GPIO, and UART interfaces.

[0020] In one embodiment, the upper core board further includes a power management circuit;

[0021] The input terminal of the power management circuit is connected to the carrier board module, and the output terminal of the power management circuit is connected to the core board module.

[0022] The robot navigation motherboard proposed in this application includes an upper core board and a lower carrier board. The upper core board and the lower carrier board transmit signals through an embedded system module. The upper core board includes LPDDR4X memory chips, eMMC storage chips, an IMU inertial navigation module, a GNSS positioning module, and a core board module. The LPDDR4X memory chips, eMMC storage chips, IMU inertial navigation module, and GNSS positioning module are electrically connected to the core board module. The lower carrier board includes a CSI camera module, a GMSL camera module, a FAKRA antenna module, a WIFI module, an RTC clock device, and a carrier board module. The CSI camera module, GMSL camera module, FAKRA antenna module, WIFI module, and RTC clock device are electrically connected to the carrier board module.

[0023] The robot navigation motherboard proposed in this application mainly consists of an upper core board and a lower carrier board. It successfully integrates a GNSS positioning module, a CSI camera, a GMSL camera, an IMU inertial navigation module, and various functional interfaces, solving the problems of peripheral compatibility and application scenario flexibility of existing robot navigation motherboards, and providing robots with more stable and efficient navigation support. Meanwhile, the upper core board transmits signals to the lower carrier board through an embedded system module. This two-layer design helps improve the flexibility of modular design, and the upper core board and lower carrier board can be designed separately, facilitating the maintenance and upgrade of the motherboard system. Attached Figure Description

[0024] 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 the structures shown in these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the module connections in the first embodiment of the robot navigation dedicated motherboard of this application;

[0026] Figure 2 This is a schematic diagram of the module connections in the second embodiment of the robot navigation motherboard of this application.

[0027] Figures 1 to 2 Explanation of icon numbers:

[0028] label name label name 10 upper core board 20 Lower Carrier Plate 30 Embedded system module 101 Core board module 102 LPDDR4X memory chips 103 EMMC storage particles 104 IMU Inertial Navigation Module 105 GNSS positioning module 201 Carrier Module 202 CSI camera module 203 GMSL camera module 204 WIFI module 205 FAKRA antenna module 206 RTC clock device 106 Power management circuit 2021 CSI camera 2022 CSI camera 2023 CSI camera 2024 CSI camera 2031 GMSL camera 2032 GMSL camera 2051 First FAKRA antenna 2052 Second FAKRA antenna 2053 GNSS receiver 207 Network card chip 208 RJ45 network port 209 SPI interface 210 UART interface 211 I2C interface 212 MIPI_DSI interface 213 GPIO interface 214 USB 3.0 interface 215 USB 2.0 interface 216 DCIN power supply 217 CAN FD interface 218 SPI to CAN chip 2033 GMSL conversion chip

[0029] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. If the embodiments of the present utility model involve descriptions such as "first" or "second", such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of such features.

[0031] This embodiment proposes a dedicated motherboard for robot navigation, aiming to improve the integration and flexibility of the robot navigation motherboard.

[0032] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the module connections in the first embodiment of the robot navigation motherboard of this application. In this embodiment, the robot navigation motherboard proposed in this application includes an upper core board 10 and a lower carrier board 20, and the upper core board 10 and the lower carrier board 20 transmit signals through an embedded system module 30.

[0033] The upper core board 10 includes an LPDDR4X memory chip 102, an eMMC storage chip 103, an IMU inertial navigation module 104, a GNSS positioning module 105, and a core board module 101. The LPDDR4X memory chip 102, the eMMC storage chip 103, the IMU inertial navigation module 104, and the GNSS positioning module 105 are electrically connected to the core board module 101.

[0034] In this embodiment, the robot navigation motherboard includes an upper core board 10 and a lower carrier board 20. Signal transmission between the upper core board 10 and the lower carrier board 20 is achieved through an embedded system module 30. The upper core board 10 includes:

[0035] LPDDR4X memory chip 102: Features high bandwidth and low power consumption, providing the motherboard system with fast data processing capabilities.

[0036] EMMC storage chip 103: Used to store operating systems, applications and data, and has non-volatile storage characteristics.

[0037] IMU Inertial Navigation Module 104: Contains sensors such as accelerometers and gyroscopes for real-time measurement and calculation of the robot's position, velocity, and attitude.

[0038] GNSS Positioning Module 105: It can receive and process signals from multiple satellites to achieve high-precision positioning and navigation functions.

[0039] Core board module 101: As the control center of the entire upper core board 10, it is responsible for coordinating the work of various components and realizing functions such as data processing and communication control.

[0040] The lower carrier board 20 includes a CSI camera module 202, a GMSL camera module 203, a FAKRA antenna module 205, a WIFI module 204, an RTC clock device 206, and a carrier board module 201, wherein the CSI camera module 202, the GMSL camera module 203, the FAKRA antenna module 205, the WIFI module 204, and the RTC clock device 206 are electrically connected to the carrier board module 201.

[0041] In this embodiment, the lower carrier board 20 in the motherboard includes:

[0042] CSI Camera Module 202: Used to connect to a high-definition camera to achieve image acquisition.

[0043] GMSL Camera Module 203: Supports higher-speed image data transmission and is suitable for high-resolution cameras.

[0044] FAKRA Antenna Module 205: A high-performance coaxial connector antenna module used for receiving and transmitting wireless signals, such as wireless communication and radar signals.

[0045] WIFI module 204: Provides wireless communication capabilities, allowing the robot to exchange navigation-related data with external devices and servers through WIFI module 204.

[0046] RTC Clock Device 206: Real-time clock device, used to provide accurate time information to ensure timing synchronization of the motherboard system.

[0047] Carrier board module 201: As the control center of the lower carrier board 20, it is responsible for the connection and management of various interfaces and devices, as well as signal transmission with the upper core board 10.

[0048] Therefore, the robot navigation motherboard proposed in this embodiment provides efficient, stable, and multifunctional navigation support for robots through its carefully designed upper and lower layer structure and high-performance component integration.

[0049] Further, please refer to Figure 2 , Figure 2 This is a schematic diagram of the module connections in the second embodiment of the robot navigation motherboard of this application. In this embodiment, the IMU inertial navigation module 104 communicates with the core board module 101 via the SPI protocol;

[0050] The IMU inertial navigation module 104 includes an accelerometer and a gyroscope.

[0051] In this embodiment, the IMU inertial navigation module 104 communicates directly with the core board module 101 via the SPI protocol. The SPI protocol is a high-speed, full-duplex, synchronous communication interface, which is particularly suitable for short-distance, high-speed data transmission, enabling the IMU inertial navigation module 104 to transmit key data such as acceleration and angular velocity to the core board module 101 for processing in real time and accurately.

[0052] The IMU inertial navigation module 104 integrates two types of sensors: an accelerometer and a gyroscope. It can provide the robot with a variety of functions, such as static / motion state detection, acceleration / angular velocity magnitude and direction measurement, and tilt state detection.

[0053] In one feasible embodiment, the GNSS positioning module 105 communicates with the core board module 101 via a UART serial port.

[0054] In this embodiment, the GNSS positioning module 105 communicates directly with the core board module 101 via a UART serial port. The UART serial port has the advantages of being simple to use and low in cost, and is suitable for low-speed data transmission between the GNSS positioning module 105 and the core board module 101. The GNSS positioning module 105 can provide accurate geographic location coordinates, helping the robot to achieve global positioning in a wide range of open environments.

[0055] It is worth mentioning that the combination of GNSS positioning module 105 and IMU inertial navigation module 104 enables the motherboard system to not only achieve high-precision positioning in open areas through GNSS positioning module 105, but also to maintain high-precision short-term positioning through inertial data of IMU inertial navigation module 104 in the event of unstable or interrupted signal.

[0056] In one feasible embodiment, the CSI camera module 202 includes four CSI cameras, the GMSL camera module 203 includes two GMSL cameras, and the CSI cameras and the GMSL cameras are connected by a pad stacking design.

[0057] In this embodiment, the CSI camera module 202 includes four CSI cameras, namely Figure 2The CSI cameras are 2021, 2022, 2023, and 2024. The GMSL camera module 203 contains two GMSL cameras, namely... Figure 2 The GMSL cameras 2031 and 2032 are connected to the carrier board module 201 via the GMSL conversion chip 2033. The four CSI cameras and two GMSL cameras are co-lay (stacked pad design) and can be switched to suit different application scenarios. The cameras are directly connected to the carrier board.

[0058] It's worth noting that CSI uses differential signal transmission, making the transmission line length quite sensitive, typically limited to tens of centimeters. A combination of four CSI cameras can provide the robot with real-time image information from multiple perspectives, suitable for applications where image quality requirements are not high, transmission line length is short, and a comprehensive image perspective is needed. The GMSL camera uses the GMSL protocol, which is a differential signal transmission protocol with high anti-interference capabilities, maintaining signal integrity over longer distances. Simultaneously, the GMSL camera provides higher resolution and higher frame rate images, suitable for applications requiring higher precision image information. The visual image information provided by the cameras, combined with other robot sensors such as the IMU inertial navigation module 104 and the GNSS positioning module 105, helps the robot quickly understand its surroundings, enabling visual navigation and mapping functions.

[0059] In one feasible embodiment, the lower carrier board 20 further includes a GMAC network port, an SPI interface 209, a UART interface 210, an I2C interface 211, a MIPI_DSI interface 212, a GPIO interface 213, a USB 3.0 interface 214, a USB 2.0 interface 215, and a DCIN power supply 216.

[0060] In this embodiment, the lower carrier board 20 also includes various interface resources, and the lower carrier board 20 may specifically include:

[0061] GMAC Ethernet Port: A gigabit Ethernet interface that provides high-bandwidth data transmission capabilities. Robots can efficiently and stably transmit data from sources such as LiDAR and cameras via wired connections, ensuring real-time data transmission.

[0062] The lower carrier board 20 is also equipped with a network card chip 207 that is connected to the carrier board module 201 via a GMAC network port. The network card chip 207 is connected to an RJ45 (an Ethernet interface standard) network port 208. The network card chip 207 is a hardware device that connects a computer to a network. It is responsible for handling the reception and transmission of network data and implementing network communication protocols. The RJ45 network port 208 is a commonly used Ethernet interface standard, usually used to connect network cables between computers and network devices (such as routers, switches, etc.). The RJ45 network port 208 adopts an 8-pin, 8-wire design, which can support high-speed and stable network communication.

[0063] SPI Interface 209: The SPI interface 209 is a high-speed, full-duplex synchronous serial communication protocol commonly used to connect sensors, storage devices, displays, and other peripheral devices. It typically features high transmission rates and low latency, making it suitable for real-time data exchange.

[0064] UART interface 210: Used to communicate with external devices (such as debuggers, computers or external control systems), and can also be used to connect to a GPS (Global Positioning System) module to obtain location information.

[0065] I2C interface 211: Suitable for connecting low-speed sensors and peripheral devices, such as temperature sensors, wind speed sensors, light sensors, air pressure sensors, etc. Robots can connect multiple sensors simultaneously through one I2C bus to perceive the external environment.

[0066] MIPI_DSI interface 212: It can connect to a high-resolution display to transmit video or image data acquired by the robot to the display screen, so that technicians can obtain robot information in real time.

[0067] GPIO Interface 213: General Purpose Input / Output Interface, which can be used to connect various peripherals such as switches and indicator lights to achieve flexible input / output control.

[0068] USB 3.0 Interface 214: The third-generation Universal Serial Bus interface provides high-speed data transfer and is suitable for connecting large-capacity storage devices, high-speed peripherals, etc.

[0069] USB 2.0 Interface 215: The second-generation Universal Serial Bus interface, although slower than USB 3.0, has wider compatibility and can be used to connect a variety of USB devices.

[0070] Thus, by integrating these interfaces, not only is the connection and data transmission process of peripherals on the robot navigation motherboard simplified, but peripherals can also be flexibly configured according to different application scenarios, supporting various types of sensors, cameras and other external devices. This solves the problems of peripheral compatibility and usage scenario flexibility of existing robot motherboards, providing robots with more stable and efficient navigation support.

[0071] DCIN Power 216: DC power interface, used to connect the power adapter to provide a stable DC power supply to the entire motherboard. The DC power supply is usually 5 to 36V.

[0072] In one feasible embodiment, the FAKRA antenna module 205 includes a first FAKRA antenna 2051 and a second FAKRA antenna 2052;

[0073] The first FAKRA antenna 2051 is connected to the carrier module 201;

[0074] The second FAKRA antenna 2052 is connected to the carrier module 201 via the GNSS receiver 2053.

[0075] In this embodiment, the FAKRA antenna module 205 includes a first FAKRA antenna 2051 and a second FAKRA antenna 2052. The first FAKRA antenna 2051 is directly connected to the carrier module 201 and is used to receive and transmit wireless signals, such as wireless communication and radar signals. The second FAKRA antenna 2052 is connected to the carrier module 201 through a GNSS receiver 2053 and is specifically used to receive signals from the Global Navigation Satellite System to achieve high-precision positioning and navigation functions.

[0076] Thus, through the dual-antenna system, the GNSS positioning module 105 receives GPS signals from different angles. By adjusting and comparing the signals received by the two antennas in real time, the relative position of the motherboard can be calculated more accurately, effectively improving positioning accuracy.

[0077] In one possible embodiment, the lower carrier board 20 further includes a CAN FD interface 217;

[0078] The CAN FD interface 217 is connected to the carrier module 201 via the SPI to CAN chip 218.

[0079] In this embodiment, the lower carrier board 20 is equipped with a CAN FD interface 217. CAN FD is a high-speed, flexible data communication protocol widely used in automotive, industrial control, robotics, and other fields. CAN FD enables robots to communicate efficiently with servo motors or other sensors using the CAN FD protocol. Compared to the traditional CAN bus, it supports higher data transmission rates and larger data loads. This interface is connected to the carrier board module 201 via an SPI-to-CAN chip 218, enabling effective communication between the CAN FD signal and the carrier board module 201.

[0080] In one feasible embodiment, the embedded system module 30 includes GMAC, MIPI_CSI, USB2.0, USB3.0, SPI, I2C, GPIO, and UART interfaces.

[0081] In this embodiment, the embedded system module 30 includes a Gigabit Ethernet interface (GMAC), a mobile industry processor interface-camera serial interface (MIPI_CSI), second-generation and third-generation universal serial bus interfaces (USB2.0, USB3.0), a serial peripheral interface (SPI), a two-wire serial bus interface (I2C), a universal input / output interface (GPIO), and a universal asynchronous transceiver interface (UART). The integration of these interfaces enables efficient and stable communication between the upper core board 10 and the lower carrier board 20.

[0082] In one feasible embodiment, the upper core board 10 further includes a power management circuit 106;

[0083] The input terminal of the power management circuit 106 is connected to the carrier board module 201, and the output terminal of the power management circuit 106 is connected to the core board module 101.

[0084] In this embodiment, the upper core board 10 has a built-in power management circuit 106. The input terminal of the circuit is connected to the carrier board module 201 and receives power from the carrier board module 201. After processing and conversion by the power management circuit 106, a stable power supply is output to the core board module 101, ensuring the normal operation and stable performance of each component connected to the core board module 101. The use of the power management module improves the energy utilization efficiency of the motherboard and enhances the reliability and stability of the motherboard system.

[0085] The above are merely optional embodiments of this utility model and do not limit the patent scope of this utility model. All equivalent structural transformations made based on the contents of this utility model specification and drawings under the utility model concept, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this utility model.

Claims

1. A dedicated motherboard for robot navigation, characterized in that, The robot navigation motherboard includes an upper core board and a lower carrier board, and the upper core board and the lower carrier board transmit signals through an embedded system module. The upper core board includes LPDDR4X memory chips, eMMC storage chips, an IMU inertial navigation module, a GNSS positioning module, and a core board module, wherein the LPDDR4X memory chips, the eMMC storage chips, the IMU inertial navigation module, and the GNSS positioning module are electrically connected to the core board module. The lower carrier board includes a CSI camera module, a GMSL camera module, a FAKRA antenna module, a WIFI module, an RTC clock device, and a carrier board module, wherein the CSI camera module, the GMSL camera module, the FAKRA antenna module, the WIFI module, and the RTC clock device are electrically connected to the carrier board module.

2. The robot navigation motherboard as described in claim 1, characterized in that, The IMU inertial navigation module communicates with the core board module via the SPI protocol; The IMU inertial navigation module includes an accelerometer and a gyroscope.

3. The robot navigation motherboard as described in claim 1, characterized in that, The GNSS positioning module communicates with the core board module via a UART serial port.

4. The robot navigation motherboard as described in claim 1, characterized in that, The CSI camera module includes four CSI cameras, and the GMSL camera module includes two GMSL cameras. The CSI cameras and the GMSL cameras are connected by a stacked pad design.

5. The robot navigation motherboard as described in claim 1, characterized in that, The lower carrier board also includes a GMAC network port, an SPI interface, a UART interface, an I2C interface, a MIPI_DSI interface, a GPIO interface, a USB 3.0 interface, a USB 2.0 interface, and a DCIN power supply.

6. The robot navigation motherboard as described in claim 1, characterized in that, The FAKRA antenna module includes a first FAKRA antenna and a second FAKRA antenna; The first FAKRA antenna is connected to the carrier module; The second FAKRA antenna is connected to the carrier module via a GNSS receiver.

7. The robot navigation motherboard as described in claim 1, characterized in that, The lower carrier board also includes a CAN FD interface; The CAN FD interface is connected to the carrier board module via an SPI-to-CAN chip.

8. The robot navigation motherboard as described in claim 1, characterized in that, The embedded system module includes GMAC, MIPI_CSI, USB2.0, USB3.0, SPI, I2C, GPIO, and UART interfaces.

9. The robot navigation motherboard as described in claim 1, characterized in that, The upper core board also includes a power management circuit; The input terminal of the power management circuit is connected to the carrier board module, and the output terminal of the power management circuit is connected to the core board module.

Images