Controller for logistics handling mobile robot

Abstract

The utility model belongs to control system technical field, specifically disclose the controller for logistics carries mobile robot, including shell body and the CPU core board and input -output control board of installing in the shell body, CPU core board is used for the whole operation control of logistics carries mobile robot, the integrated power supply interface, RS485 communication interface, CAN communication interface, on -off value input interface, on -off value output interface and ethernet mouth have on CPU core board, input -output control board is located the top of CPU core board and is connected with CPU core board, is used for transmitting external signal to CPU core board and realizes data interaction with external device, be equipped with first CN interface, second CN interface and third CN interface on input -output control board. Through the complicated external port interface of original controller simplification integration, the controller wiring terminal quantity reduces greatly, reduces the probability that operator inserts wrong port, promotes assembly efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of control system technology, and in particular relates to a controller for a mobile robot used in logistics handling. Background Technology

[0002] In recent years, China's industrial logistics mobile robot industry has developed rapidly. However, China's development of logistics mobile robots started relatively late, and key core control components mainly rely on imports. The core control part is monopolized by foreign technology, and domestically produced mobile robot motion controllers are difficult to meet the requirements of actual industrial logistics field use. At present, the motion control system of domestic mobile robots mainly adopts a modular approach, which has shortcomings such as low integration and a large number of peripheral circuits. Therefore, the reliability, stability, and ease of use of the electrical control system need to be further optimized and improved.

[0003] To address the aforementioned technical problems, Chinese patent application CN116449753A discloses a motion controller and system for a logistics mobile robot, including a support frame, a CPU core board, an input signal control board, an output signal control board, an RS485 communication control board, a CAN communication control board, and an independent power supply. The CPU core board is located at the bottom of the support frame and is used for the overall control of the industrial logistics mobile robot. The input signal control board is located at the top of the support frame and is communicatively connected to the CPU core board, used to receive signals from external switches and sensors. The output signal control board is located in the middle of the support frame and is communicatively connected to the CPU core board, used for controlling the output signals of the motion controller. The RS485 communication control board, located at the top of the support frame and connected to the CPU core board, is used to control external devices using the RS485 MODBUS protocol. The CAN communication control board, located at the top of the support frame and connected to the CPU core board, is used to control external devices connected to the CAN communication network. An independent power supply, located near the CPU core board at the bottom of the support board, is used to provide power to the CPU core board, input signal control board, output signal control board, RS485 communication control board, and CAN communication control board.

[0004] The above motion controller has the following shortcomings:

[0005] The external port interfaces are complex: the controller has a large number of external port interfaces (12) and a complex structure. During the production and assembly process, operators are very likely to plug in the wrong ports, resulting in low assembly efficiency and easy equipment failure.

[0006] Redundancy of PCB functional modules: The controller PCB has too many functional modules, and the structural design is complex. This causes inconvenience in operation during disassembly and assembly, which seriously affects the efficiency of equipment maintenance. It is urgent to improve the integration of the overall controller and simplify the structure.

[0007] Oversized: The controller's size exceeds the actual requirements, occupying a large amount of limited space inside the mobile robot. This results in a crowded layout of electrical components inside the mobile robot, which not only affects space utilization but also increases the risk of electrical interference. Utility Model Content

[0008] The purpose of this invention is to provide a controller for a mobile robot used in logistics handling, which simplifies the external interface of the controller, makes it easy for operators to install, improves module integration, significantly enhances the ease of use and reliability of the controller, and meets the high-efficiency operation requirements of industrial logistics scenarios.

[0009] To achieve the above objectives, the technical solution of this utility model is as follows: a controller for a mobile robot used for logistics handling, comprising a housing and a CPU core board and an input / output control board installed within the housing.

[0010] The CPU core board is used for the overall operation control of the logistics handling mobile robot. The CPU core board integrates a power supply interface, an RS485 communication interface, a CAN communication interface, a digital input interface, a digital output interface, and an Ethernet port. The power supply interface is used to connect to a power source to power the entire controller. The RS485 and CAN communication interfaces are used for communication. The digital input interface is used to receive switching signals from external sensors or control devices. The digital output interface is used to output control signals to drive external actuators. The Ethernet port is used for network communication with external devices.

[0011] An input / output control board, located above and connected to the CPU core board, is used to transmit external signals to the CPU core board and to interact with external devices. The control board is equipped with a first CN interface, a second CN interface, and a third CN interface. The first CN interface receives the origin signal, upper / lower position signals, sensor signals, and lidar signals from the logistics handling mobile robot. The second CN interface connects to external LED strips, drivers, and batteries to monitor their status. The third CN interface controls the LED strips and lidar of the logistics handling mobile robot.

[0012] Furthermore, the CPU core board and the input / output control board are physically and electrically connected through three sets of dual-row pin header connectors to complete signal transmission and power supply.

[0013] Furthermore, the RS485 communication interface is used to control the color and status changes of the light strip; the CAN communication interface is used to communicate and control the left and right wheel motor drivers, the lifting motor driver, and the rotating motor driver, to control the speed and direction of the left and right wheel motors, the lifting motor, and the rotating motor, as well as to collect the position status information of the motor operation and the real-time power and voltage of the battery.

[0014] Furthermore, the CPU core board also integrates a program download port, which is used to update the controller program.

[0015] Furthermore, the CPU core board and input / output control board are connected to the outer casing via spacers.

[0016] Furthermore, a thermally conductive silicone pad is provided between the CPU core board and the outer casing.

[0017] Furthermore, the seams of the outer casing are provided with waterproof sealing strips.

[0018] Furthermore, the outer shell is made of aluminum alloy.

[0019] The beneficial effects of this technical solution are as follows:

[0020] ① By simplifying and integrating the complex external port interfaces of the original controller, the number of wiring terminals of this controller has been greatly reduced from 12 to 3, significantly reducing the probability of operators plugging in the wrong ports and improving assembly efficiency by over 40%. At the same time, the input / output control board highly integrates input, output, and communication functional modules, replacing the original scattered PCB functional modules, which shortens the controller assembly and disassembly time by 60% and greatly reduces the difficulty and time cost of equipment maintenance.

[0021] ② Thanks to its highly integrated design, this controller has a 35% smaller overall size than the original controller, effectively freeing up internal space in the mobile robot and solving the problem of crowded electrical component layout. This not only improves space utilization but also reduces the risk of electrical interference, providing a better environment for the stable operation of the robot's internal system.

[0022] ③ The CPU core board and input / output control board use dual-row pin header connectors instead of the original ribbon cable connections, improving connection reliability by 90% and eliminating the risk of loosening.

[0023] ④ The second CN interface enables real-time monitoring of battery power. When the voltage is lower than the set value, the CPU core board will trigger the charging process, which effectively improves the robot's endurance and automation level, reduces the frequency of manual intervention, and improves the efficiency and intelligence of industrial logistics operations. Attached Figure Description

[0024] Figure 1This is a schematic diagram of the external structure of the controller for a mobile robot used in logistics handling according to this utility model;

[0025] Figure 2 This is a schematic diagram of the internal structure of the controller for a mobile robot used in logistics handling according to this utility model;

[0026] Figure 3 This is a schematic diagram of the CPU core board.

[0027] Figure 4 This is a schematic diagram of the input / output control board.

[0028] Figure 5 This is the schematic diagram of the CPU core board. Detailed Implementation

[0029] The following detailed description illustrates the specific implementation method:

[0030] The reference numerals in the accompanying drawings include: CPU core board 1, input / output control board 2, housing 3, first CN interface 4, second CN interface 5, third CN interface 6, first pin header interface 7, second pin header interface 8, third pin header interface 9, program download port 10, Ethernet port 11, power supply interface 12, RS485 communication interface 13, CAN communication interface 14, digital input interface 15, and digital output interface 16.

[0031] 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 without creative effort are within the protection scope of the present utility model.

[0032] The basic implementation examples are as follows: Figure 1-5 As shown: A controller for a mobile robot used for logistics handling includes a housing 3 and a CPU core board 1 and an input / output control board 2 installed inside the housing 3.

[0033] CPU core board 1 is used for the overall operation control of the logistics handling mobile robot. CPU core board 1 integrates a power supply interface 12, an RS485 communication interface 13, a CAN communication interface 14, a digital input interface 15, a digital output interface 16, a program download port 10 (Type-C interface), and an Ethernet port 11. Power supply interface 12 is used to connect to a power source, providing a stable DC12V-DC30V input power to the entire controller. RS485 communication interface 13 and CAN communication interface 14 are used for communication. RS485 communication interface 13 is used to control the color and status changes of the LED strip. CAN communication interface 14 is used to communicate and control the left and right wheel motor drivers, lifting motor driver, and rotary motor driver, enabling control of the speed and direction of the left and right wheel motors, lifting motor, and rotary motor, as well as collecting the position status information of the motors and the real-time power and voltage of the battery. The digital input interface 15 is used to receive switching signals from external sensors or control devices; the digital output interface 16 is used to output control signals to drive external actuators; the Ethernet port 11 is used to realize network communication with external devices; and the program download port 10 is used for MCU program download and debugging, and updating the controller program.

[0034] The input / output control board 2, located above and connected to the CPU core board 1, is used to transmit external signals to the CPU core board 1 and to interact with external devices. Specifically, the CPU core board 1 and the input / output control board 2 are physically and electrically connected via three sets of dual-row pin header connectors to complete signal transmission and power supply. The three sets of dual-row pin header connectors are the first pin header interface 7, the second pin header interface 8, and the third pin header interface 9. The input / output control board 2 is equipped with a first CN interface 4, a second CN interface 5, and a third CN interface 6. The first CN interface 4 is used to receive the origin signal, upper and lower position signals, sensor signals, and LiDAR signals from the logistics handling mobile robot. The first CN interface 4 supports the input of various types of sensors. By changing the positive and negative polarities of S / S1, it can be adapted to NPN and PNP type sensors without affecting the stability of the control input circuit, ensuring that the MCU can receive sensor signals normally. The second CN interface 5 is used to connect to external light strips, drivers, and batteries to monitor their status; the third CN interface 6 is used to control the light strips and lidar of the logistics handling mobile robot.

[0035] The original input signal control, RS485 communication, and CAN communication control circuits and components are integrated into the input / output control board 2, greatly simplifying the hardware architecture. Simultaneously, the power supply is also integrated into the input / output control board 2, exiting through the first CN interface 4 to provide a stable DC12V-DC30V input power to the motion controller.

[0036] The CPU core board 1 and the input / output control board 2 are connected to the housing 3 via spacers. A thermally conductive silicone pad is provided between the CPU core board 1 and the housing 3. Waterproof sealing strips are provided at the seams of the housing 3. The housing 3 is made of aluminum alloy.

[0037] This invention adopts a modular concept and a standardized interface design for functional boards, facilitating rapid replacement of faulty components, shortening downtime, and reducing maintenance costs. Waterproof sealing strips at the seams of the outer casing 3 ensure the controller achieves an IP65 protection rating, providing dust and water resistance. High thermal conductivity silicone pads between the CPU core board 1 and the outer casing 3, combined with the casing's heat dissipation structure, improve heat dissipation efficiency and ensure stable operation of the controller in a wide temperature range from -20℃ to 60℃.

[0038] The robot communicates with the warehouse management system (WMS) and other automated equipment via Ethernet port 11 and CAN communication interface 14, and precisely controls the robot's operating status by combining digital input interface 15 and digital output interface 16, thereby achieving efficient handling and precise positioning of goods.

[0039] During debugging, developers use program download port 10 to update the controller program, adjust the control strategy according to the actual working conditions, monitor the data transmission of each interface in real time, optimize the controller performance, and ensure long-term stable operation.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] The above descriptions are merely embodiments of this utility model. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are knowledgeable of all existing technologies in that field, and possess the ability to apply conventional experimental methods prior to that date. Therefore, those skilled in the art can, based on the guidance provided in this application, improve and implement this solution in conjunction with their own capabilities. Typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of this utility model. These modifications and improvements should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A controller for a mobile robot used in logistics handling, characterized in that: This includes the outer casing and the CPU core board and input / output control board installed inside the casing. The CPU core board is used for the overall operation control of the logistics handling mobile robot. The CPU core board integrates a power supply interface, an RS485 communication interface, a CAN communication interface, a digital input interface, a digital output interface, and an Ethernet port. The power supply interface is used to connect to a power source to power the entire controller. The RS485 and CAN communication interfaces are used for communication. The digital input interface is used to receive switching signals from external sensors or control devices. The digital output interface is used to output control signals to drive external actuators. The Ethernet port is used for network communication with external devices. An input / output control board, located above and connected to the CPU core board, is used to transmit external signals to the CPU core board and to interact with external devices. The control board is equipped with a first CN interface, a second CN interface, and a third CN interface. The first CN interface receives the origin signal, upper / lower position signals, sensor signals, and lidar signals from the logistics handling mobile robot. The second CN interface connects to external LED strips, drivers, and batteries to monitor their status. The third CN interface controls the LED strips and lidar of the logistics handling mobile robot.

2. The controller for a mobile robot used in logistics handling according to claim 1, characterized in that: The CPU core board and the input / output control board are physically and electrically connected through three sets of dual-row pin header connectors to complete signal transmission and power supply.

3. The controller for a mobile robot used in logistics handling according to claim 1, characterized in that: The RS485 communication interface is used to control the color and status changes of the light strip; the CAN communication interface is used to communicate and control the left and right wheel motor drivers, the lifting motor driver and the rotating motor driver, to control the speed and direction of the left and right wheel motors, the lifting motor and the rotating motor, as well as to collect the position status information of the motor operation and the real-time power and voltage of the battery.

4. The controller for a mobile robot used in logistics handling according to claim 1, characterized in that: The CPU core board also integrates a program download port, which is used to update the controller program.

5. The controller for a mobile robot used in logistics handling according to claim 1, characterized in that: The CPU core board and input / output control board are connected to the outer casing via spacers.

6. The controller for a mobile robot used in logistics handling according to claim 1, characterized in that: A thermally conductive silicone pad is provided between the CPU core board and the outer casing.

7. The controller for a mobile robot used in logistics handling according to claim 1, characterized in that: The seams of the outer casing are provided with waterproof sealing strips.

8. The controller for a mobile robot used in logistics handling according to claim 1, characterized in that: The outer shell is made of aluminum alloy.

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