Mobile robot controller and mobile robot
By combining a high-performance core board and a 32-bit microprocessor, the problem of insufficient computing power in existing mobile robot controllers has been solved, realizing a low-power, low-cost, and miniaturized mobile robot controller that meets the needs of intelligent computing and real-time motion control for robots.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- NUCTECH CO LTD
- Filing Date
- 2025-07-02
- Publication Date
- 2026-06-19
AI Technical Summary
Existing mobile robot controllers have insufficient computing power when dealing with large amounts of data, and also suffer from problems such as high power consumption, large size, and high cost, making it difficult to meet the intelligent computing and control needs of robots.
The design combines a high-performance core board with a 32-bit microprocessor. The high-performance core board integrates a high-performance processor, power management module, DDR memory and eMMC memory, while the baseboard houses the 32-bit microprocessor. Electrical connections are achieved through board-to-board connectors. The high-performance core board is responsible for complex calculations, while the baseboard processes real-time signals, integrating them into a compact controller.
It achieves efficient computing and real-time mobile robot control, reduces power consumption and cost, meets the needs of large-scale data computing and real-time motion control for mobile robots, and achieves miniaturization.
Smart Images
Figure CN224374089U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of intelligent robot technology, and specifically relates to a mobile robot controller and a mobile robot. Background Technology
[0002] With the popularization of smart living, mobile robots are being used more and more widely. For mobile robots, the mobile robot controller is a core component. There are generally two types of existing mobile robot controllers. One type is a controller based on a 32-bit microprocessor. This type has insufficient sensor access capabilities for high-speed transmission and large data volume, making it difficult to meet the intelligent computing and control needs of robots. The other type is a controller based on an industrial computer. This type relies on a central processing unit (CPU) for calculation, which has problems such as high power consumption and large size, and requires additional control units to meet the robot control requirements. Utility Model Content
[0003] The purpose of this application is to provide a mobile robot controller and a mobile robot that can meet the needs of large-scale data computing and real-time motion control of mobile robots, while also taking into account the needs of low power consumption, low cost and miniaturization.
[0004] In a first aspect, embodiments of this application provide a mobile robot controller, including:
[0005] The high-performance core board includes a high-performance processor, as well as a power management module, a double data rate DDR memory, and an embedded multimedia card EMMC memory connected to the high-performance processor; the high-performance core board is provided with a first functional interface, which is used to connect to a first device of the mobile robot, the first device being a device whose computational load required for operation is greater than a preset computational load threshold;
[0006] The baseboard is equipped with a 32-bit microprocessor and is connected to a high-performance core board. The baseboard also has a second functional interface for connecting to the power module and a second device of the mobile robot. The second device is a device that outputs real-time signals.
[0007] In some embodiments, the first functional interface is led out to the base plate via a connector.
[0008] In some embodiments, the high-performance core board is connected to the baseboard via a board-to-board connector, which includes a first connector disposed on the high-performance core board and a second connector disposed on the baseboard.
[0009] In some embodiments, the first connector is a pin header, and the second connector is a socket that matches the pin header. The socket has a built-in first elastic contact piece, and the pin header is connected to the first elastic contact piece after being inserted into the socket.
[0010] In some embodiments, the high-performance core board is provided with gold fingers, and the base plate is provided with a slot that matches the gold fingers. The slot has a second elastic contact piece built in it, and the gold fingers are connected to the second elastic contact piece after being inserted into the slot.
[0011] In some embodiments, the high-performance processor includes at least one of a multi-core ARM processor and a field-programmable gate array (FPGA).
[0012] In some embodiments, the first functional interface includes a Universal Serial Bus (USB) interface, an Ethernet interface, an HDMI (High Definition Multimedia) interface, a headphone jack, and a Serial Advanced Technology Accessory (SATA) interface.
[0013] In some embodiments, the second functional interface includes an input / output interface and a serial communication interface.
[0014] In some embodiments, the serial communication interface includes an I2C / SPI / CAN communication interface and an RS232 / RS485 communication interface.
[0015] Secondly, embodiments of this application also provide a mobile robot, which includes a mobile robot controller as described in the first aspect above.
[0016] The beneficial effects of the mobile robot controller and mobile robot provided in this application embodiment are as follows: A high-performance core board is integrated onto a baseboard with a 32-bit microprocessor. The high-performance processor in the core board has abundant computing resources and parallel computing units, enabling it to perform more complex calculations. The baseboard with the 32-bit microprocessor can process real-time signals, achieving highly real-time operations. This satisfies both the large data computation requirements of mobile robot control and the real-time motion requirements of the mobile robot. Furthermore, the controller has a compact overall structure, eliminating the need for CPU computation and additional control units, thus achieving low power consumption, low cost, and miniaturization. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the embodiments of this application 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 recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is a perspective view of the mobile robot controller provided in the embodiments of this application;
[0019] Figure 2 This is a plan view of the mobile robot controller provided in the embodiments of this application;
[0020] Figure 3 This is a system framework diagram of the mobile robot controller provided in the embodiments of this application.
[0021] The markings in the diagram mean:
[0022] 1. High-performance core board; 11. High-performance processor; 12. Power management module; 13. DDR memory; 14. eMMC memory; 151. USB interface; 152. Ethernet interface; 153. HDMI interface; 154. Headphone jack; 155. SATA interface;
[0023] 2. Baseboard; 21. 32-bit microprocessor; 221. Input / output interface; 222. Serial communication interface; 2221. I2C / SPI / CAN communication interface; 2222. RS232 / RS485 communication interface.
[0024] 3. Board-to-board connectors. Detailed Implementation
[0025] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0026] It should be noted that the terms "upper," "lower," "left," and "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the purpose of description, not indicating or implying that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this patent. The terms "first" and "second" are used only for the purpose of description and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality of" means two or more, unless otherwise explicitly specified. In addition, the terms "horizontal," "vertical," and "suspended," etc., do not indicate that the component is required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0027] It should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0028] To illustrate the technical solutions described in this application, the following detailed description is provided in conjunction with specific drawings and embodiments.
[0029] Please see Figure 1 and Figure 2 This application provides a mobile robot controller, which may include a high-performance core board 1 and a baseboard 2. The high-performance core board 1 includes a high-performance processor 11, and a power management module 12, a double data rate DDR memory, and an embedded multimedia card EMMC memory 14 connected to the high-performance processor 11. The high-performance core board 1 is provided with a first functional interface, which is used to connect to a first device of the mobile robot. The first device is a device whose computational load required for operation is greater than a preset computational load threshold. The baseboard 2 is provided with a 32-bit microprocessor 21, and the baseboard 2 is connected to the high-performance core board 1. The baseboard 2 is also provided with a second functional interface, which is used to connect to the power module and a second device of the mobile robot. The second device is a device that outputs real-time signals.
[0030] In this embodiment, the mobile robot controller may include a high-performance core board 1 and a baseboard 2 integrated together. The high-performance core board 1 refers to an embedded system core hardware platform that integrates key modules such as processors, storage, and peripheral interfaces. It typically serves as the main control unit of the device and features high computing power, low latency, and high reliability.
[0031] The high-performance core board 1 may include a high-performance processor 11, which can be used to perform large-scale data computation. In some embodiments, the high-performance processor 11 may include at least one of a multi-core ARM processor and a field-programmable gate array (FPGA).
[0032] A multi-core ARM processor can contain at least four processing cores, which are interconnected via a shared cache and bus, and support dynamic voltage and frequency adjustment. The task scheduler of a multi-core ARM processor can dynamically allocate computing tasks to the big and little core clusters based on the real-time load. In this way, power consumption can be optimized through dynamic voltage and frequency adjustment technology and the division of labor between big and little cores.
[0033] FPGA logic cells can be connected via reconfigurable wiring resources and can be configured as hardware acceleration circuits for real-time data stream processing tasks, supporting concurrent processing of multiple data streams.
[0034] In some examples, if the high-performance processor 11 includes a multi-core ARM processor and an FPGA, the multi-core ARM processor handles general computing tasks, while the FPGA is configured as a dedicated hardware accelerator. The two exchange data via shared memory or a high-speed interconnect interface. For instance, highly parallel tasks can be mapped to the FPGA, while control-intensive tasks can be assigned to the multi-core ARM processor. In this way, the multi-core ARM processor provides system-level control, and the FPGA implements deterministic real-time responses, further balancing the computational and real-time requirements of mobile robots.
[0035] The high-performance core board 1 may also include a power management module 12, a double data rate (DDR) memory, and an embedded multimedia card (EMMC) memory. The high-performance processor 11 may be electrically connected to the power management module 12, the DDR memory, and the EMMC memory 14, respectively.
[0036] The power management module 12 is a power management integrated circuit (PMIC), which supplies power to the components of the high-performance core board 1 and manages power distribution. The PMIC integrates multiple outputs, enabling dynamic voltage regulation, which is beneficial for miniaturization and improved efficiency. The DDR memory is the system's operating memory, providing high-speed data access. The eMMC memory 14 is a non-volatile storage unit used to store system, application, and data.
[0037] The high-performance core board 1 can also be configured with a first functional interface, which can be used to connect to a first device of the mobile robot that requires more computing resources.
[0038] In some embodiments, the first functional interface may include a Universal Serial Bus (USB) interface, an Ethernet interface 152, a High-Definition Multimedia Interface (HDMI) interface, a headphone jack 154, and a Serial Advanced Technology Attachment (SATA) interface.
[0039] The USB interface 151 is a standard interface for connecting peripherals. There can be one or more USB interfaces 151, and their interface types can differ to accommodate the connection needs of different types of peripherals. For example, USB interfaces 151 may include USB 2.0 and USB 3.0 interfaces, with USB 3.0 offering higher speeds. The Ethernet interface 152 is an interface for network communication and can be a Gigabit Ethernet port. The HDMI interface 153 can connect to a display device for video output. The headphone jack 154 is an audio interface for connecting headphones or speakers. The SATA interface 155 can be used to connect a SATA hard drive or solid-state drive.
[0040] The baseboard 2 can be equipped with a 32-bit microprocessor 21. The 32-bit microprocessor 21 is a general-purpose processor on the baseboard 2, which can be responsible for the control and communication functions of the baseboard 2. For example, the 32-bit microprocessor 21 can be a 32-bit ARM microprocessor.
[0041] The base plate 2 can also be equipped with a second functional interface, which can be used to connect to the power module of the mobile robot and a second device that outputs real-time signals.
[0042] In some embodiments, the second functional interface may include an input / output interface 221 and a serial communication interface 222. The input / output interface 221 can be used to connect external devices or sensors. The serial communication interface 222 can be used to support communication protocols.
[0043] In some embodiments, the serial communication interface 222 may include a sensor (I2C) / high-speed storage (SPI) / industrial bus (CAN) communication interface and an RS232 / RS485 communication interface 2222. The I2C / SPI / CAN communication interface 2221 can integrate hardware circuitry for I2C, SPI, and CAN interfaces. Each interface is independently powered and magnetically isolated, and can be based on an FPGA programmable logic unit, supporting dynamic switching between I2C / SPI / CAN protocols.
[0044] The RS232 / RS485 communication interface 2222 can integrate hardware circuitry for both RS232 and RS485 interfaces. For example, an RS232 transceiver and an RS485 transceiver can share the same set of signal pins, switched using a single-pole double-throw (SPDT) analog switch. The RS232 / RS485 communication interface 2222 can simultaneously support point-to-point, short-distance single-ended signal transmission and long-distance differential signal transmission.
[0045] In this way, the baseboard 2 can be made compatible with different devices through a variety of serial communication interfaces 222.
[0046] In this way, the high-performance core board 1 is integrated onto the baseboard 2, which has a 32-bit microprocessor 21. The high-performance processor 11 in the high-performance core board 1 has abundant computing resources and parallel computing units, enabling it to perform more complex calculations. Meanwhile, the baseboard 2 with the 32-bit microprocessor 21 can process real-time signals, achieving real-time operation. This satisfies both the large data computing requirements of mobile robot control and the real-time motion requirements of the mobile robot. Moreover, the overall controller structure is compact, eliminating the need for CPU calculations and additional control units, thus achieving the requirements of low power consumption, low cost, and miniaturization.
[0047] like Figure 3 As shown, devices such as USB sound cards, LiDAR, network cameras, 3D cameras, and touchscreens can be connected to the high-performance core board 1 through the first functional interface, and the signals from these devices are processed by the high-performance processor 11. The high-performance processor 11 has abundant computing resources and can perform complex computing functions, including intelligent voice recognition, image recognition, LiDAR simultaneous localization and mapping (SLAM) navigation, and visual SLAM navigation. It also sends motion control data to the 32-bit microprocessor 21 on the baseboard 2 through the USB interface 151 and the Ethernet interface 152 to control the movement of the mobile robot chassis and its joints.
[0048] The motion control section, which requires high real-time performance, is handled by a 32-bit microprocessor 21 on the base plate 2. The 32-bit microprocessor 21 is responsible for acquiring real-time signals from photoelectric sensors, ultrasonic sensors, collision sensors, force sensors, motor drivers, and inertial measurement unit (IMU) sensors, and processing real-time operations such as power-on / off and emergency stops for the mobile robot. The 32-bit microprocessor 21 can also communicate with the mobile robot's power module to monitor the robot's power status.
[0049] In other words, the high-performance core board 1 utilizes its abundant computing resources to perform a large number of complex parallel calculations. The baseboard 2 utilizes its rich peripheral communication interfaces to process control signal data from underlying sensors, motor drivers, power on / off signals, emergency stops, etc., which have low communication rates but high real-time requirements. The two interact with each other through a high-speed communication interface.
[0050] Mobile robot controllers can access a backend cloud platform via a network to enable various interactions based on large models. Through hierarchical management of tasks and data, the mobile robot controller can handle large amounts of data computation requiring intelligent control while also ensuring real-time motion control.
[0051] like Figure 1 and Figure 2 As shown, in some embodiments, the first functional interface is led out to the base plate 2 via a connector.
[0052] In this embodiment, the high-performance core board 1 retains only some core components such as the high-performance processor 11, power management module 12, DDR memory, and eMMC memory 14. The first functional interfaces, which belong to the peripheral part, can be led out to the baseboard 2 through connectors. In other words, all the first functional interfaces are distributed on the baseboard 2.
[0053] This significantly reduces the area and design complexity of the high-performance core board 1, thereby lowering costs. Changes in the peripheral components, interfaces, and layout of the mobile robot controller will not affect the design modifications of the high-performance core board 1.
[0054] like Figure 1 and Figure 2 As shown, in some embodiments, the high-performance core board 1 is connected to the baseboard 2 via a board-to-board connector, which includes a first connector disposed on the high-performance core board 1 and a second connector disposed on the baseboard 2.
[0055] In this embodiment, the high-performance core board 1 can be embedded onto the base plate 2 via a board-to-board connector. The board-to-board connector may include a first connector disposed on the high-performance core board 1 and a second connector disposed on the base plate 2. The first connector and the second connector are connected and conductive to realize the electrical connection between the high-performance core board 1 and the base plate 2.
[0056] In some embodiments, the first connector is a pin header, and the second connector is a socket that matches the pin header. The socket has a built-in first elastic contact piece, and the pin header is connected to the first elastic contact piece after being inserted into the socket.
[0057] In this embodiment, the first connector can be a pin header, and the second connector can be a socket. The socket may contain a first elastic contact piece. Both the pin header and the first elastic contact piece are made of metal. After the pin header is inserted into the socket, it contacts the first elastic contact piece and conducts electricity, thereby achieving an electrical connection between the high-performance core board 1 and the base plate 2.
[0058] In some embodiments, the high-performance core board 1 is provided with gold fingers, and the base plate 2 is provided with a slot that matches the gold fingers. The slot has a second elastic contact piece built in it, and the gold fingers are connected to the second elastic contact piece after being inserted into the slot.
[0059] In this embodiment, the electrical connection between the high-performance core board 1 and the base plate 2 can also be achieved through a gold finger structure. The high-performance core board 1 may be provided with gold fingers, and the base plate 2 may be provided with a slot that matches the gold fingers. The slot has a second elastic contact piece inside. After the gold fingers are inserted into the slot, they make contact with the second elastic contact piece and conduct electricity, thereby realizing the electrical connection between the high-performance core board 1 and the base plate 2.
[0060] This application also provides a mobile robot, which includes the mobile robot controller described above.
[0061] In this way, the complex mobile robot controller is simplified from the traditional industrial computer + control board approach to a compact, low-power solution consisting of a high-performance core board 1 and a baseboard 2. This significantly reduces the hardware cost of the mobile robot controller, minimizes the space required for its installation, and enhances parallel computing capabilities. The high-performance processor 11 on the high-performance core board 1, compared to a traditional industrial computer, possesses a parallel computing unit, which is crucial for intelligent computing and can perform more complex calculations. Meanwhile, real-time processing of some environmental sensor data, motor control, power on / off, and emergency stop are handled by the 32-bit microprocessor 21 on the baseboard 2, which features high real-time performance and low system latency. The mobile robot controller thus provides both the computational resources required for the mobile robot and meets its real-time motion control needs.
[0062] It should be noted that, in this document, 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.
[0063] This document uses specific examples to illustrate the principles and implementation methods of this application. The examples are merely for the purpose of helping to understand the method and core ideas of this application. The above are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, and the existence of an infinite number of specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the utility model concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.
Claims
1. A mobile robot controller, characterized by include: A high-performance core board includes a high-performance processor, as well as a power management module, a double data rate DDR memory, and an embedded multimedia card EMMC memory connected to the high-performance processor. The high-performance core board is provided with a first functional interface, which is used to connect to a first device of the mobile robot. The first device is a device whose computational load required for operation is greater than a preset computational load threshold. The base plate is equipped with a 32-bit microprocessor and is connected to the high-performance core board. The base plate is also equipped with a second functional interface for connecting to the power module and a second device of the mobile robot. The second device is a device that outputs real-time signals.
2. The mobile robot controller of claim 1, wherein, The first functional interface is led out to the base plate via a connector.
3. The mobile robot controller of claim 1, wherein, The high-performance core board is connected to the base plate via a board-to-board connector, which includes a first connector disposed on the high-performance core board and a second connector disposed on the base plate.
4. The mobile robot controller of claim 3, wherein, The first connector is a pin header, and the second connector is a socket that matches the pin header. The socket has a built-in first elastic contact piece, and the pin header is connected to the first elastic contact piece after being inserted into the socket.
5. The mobile robot controller of claim 1, wherein, The high-performance core board is provided with gold fingers, and the base plate is provided with a slot that matches the gold fingers. The slot has a second elastic contact piece built in it, and the gold fingers are connected to the second elastic contact piece after being inserted into the slot.
6. The mobile robot controller of claim 1, wherein, The high-performance processor includes at least one of a multi-core ARM processor and a field-programmable gate array (FPGA).
7. The mobile robot controller of any of claims 1 to 6, wherein, The first functional interface includes a Universal Serial Bus (USB) interface, an Ethernet interface, an HDMI (High Definition Multimedia) interface, a headphone jack, and a Serial Advanced Technology Accessory (SATA) interface.
8. The mobile robot controller of any of claims 1 to 6, wherein, The second functional interface includes an input / output interface and a serial communication interface.
9. The mobile robot controller of claim 8, wherein, The serial communication interface includes an I2C / SPI / CAN communication interface and an RS232 / RS485 communication interface.
10. A mobile robot, characterized by The mobile robot includes a mobile robot controller as described in any one of claims 1 to 9.