Main control device and transport vehicle

Abstract

A main control device and a transport vehicle. The main control device comprises a main control circuit board (10), a main control unit, and a plurality of module interfaces; the main control unit and the module interfaces are arranged on the main control circuit board (10); the main control device further comprises a power supply voltage conversion module and a power supply input interface; the power supply voltage conversion module and the power supply input interface are both provided on the main control circuit board (10); a power supply voltage input end of the main control unit is electrically connected to a main control voltage output end of the power supply voltage conversion module; an input end of the power supply voltage conversion module is electrically connected to the power supply input interface; and a plurality of module voltage output ends of the power supply voltage conversion module are respectively electrically connected to the plurality of module interfaces. The power supply voltage conversion module is directly integrated on the main control circuit board (10) of the main control device, so that it is not necessary to separately provide, at another position of a transport vehicle, a power supply voltage conversion module for achieving step-down, thereby reducing the number of cables in the transport vehicle, saving wiring space, and improving space utilization.

Description

Main control unit and transport vehicle

[0001] This application claims priority to Chinese Patent Application No. 202422668690.X, filed on November 1, 2024, entitled "Master Control Device and Transport Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotics, and more specifically, to a master control device and a transport vehicle including the master control device. Background Technology

[0003] Automated Guided Vehicles (AGVs), also known as automated guided vehicles or automated guided transport vehicles, are one of the main pieces of equipment in factories for automating material transport. As the application scenarios for automated material transport using AGVs increase, such as production workshops and warehouses, the performance requirements for AGVs are also rising. An AGV typically consists of multiple functional modules. Due to the inconsistent dimensions of the components within these modules, they are usually arranged as independent parts inside the AGV, occupying a significant amount of internal space. This also results in a large number of interconnecting wiring harnesses and complex wiring, leading to lower overall reliability and hindering production assembly and after-sales maintenance.

[0004] Therefore, how to improve the space utilization rate inside the automated guided vehicle and simplify the wiring to improve the overall reliability of the automated guided vehicle and the convenience of manufacturing and maintenance has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] This application aims to address one of the technical problems in related technologies to a certain extent. To this end, this application provides a main control device and a transport vehicle including the main control device. The main control device can reduce the number of cables inside the transport vehicle and save wiring space, thereby improving the utilization rate of the transport vehicle's internal space.

[0006] To achieve the above objectives, as one aspect of this application, a main control device for a transport vehicle is provided. The main control device includes a main control circuit board, a main control unit, and multiple module interfaces. The main control unit and the module interfaces are both disposed on the main control circuit board. The main control device also includes a power voltage conversion module and a power input interface. The power voltage conversion module and the power input interface are both disposed on the main control circuit board. The power supply voltage input terminal of the main control unit is electrically connected to the main control voltage output terminal of the power voltage conversion module. The input terminal of the power voltage conversion module is electrically connected to the power input interface. The multiple module voltage output terminals of the power voltage conversion module are respectively electrically connected to the multiple module interfaces.

[0007] Optionally, the module interface is an Ethernet interface, a Controller Area Network (CAN) bus interface, or a Universal Serial Bus (USB) interface.

[0008] Optionally, the plurality of module interfaces include a plurality of communication interfaces and a plurality of control interfaces, and the plurality of module voltage output terminals of the power supply voltage conversion module include a plurality of communication interface voltage output terminals corresponding to the plurality of communication interfaces and a plurality of control interface output terminals corresponding to the plurality of control interfaces.

[0009] Optionally, the main control unit is a central processing unit (CPU).

[0010] Optionally, the power supply voltage conversion module can convert the voltage input from the power input interface into a preset voltage and output it to the main control voltage output terminal.

[0011] Optionally, the preset voltage is not higher than 24V.

[0012] Optionally, the power voltage conversion module is further configured to acquire battery power information through the power input interface and send the battery power information to the main control unit.

[0013] Optionally, the main control device further includes a charging communication interface disposed on the main control circuit board. The transport vehicle is provided with a charging interface. The charging communication interface is used to connect to the charging interface. The charging interface includes charging contacts or a charging plug and can be electrically connected to the charging pile by contact or plugging. The main control unit is also used to send a control signal to the charging interface through the charging communication interface so that the charging interface connects the battery to the charging pile.

[0014] Optionally, the control interface includes a display output interface disposed on the main control circuit board. The display signal output terminal of the main control unit is electrically connected to the display output interface. The main control unit is also used to output a display control signal to the display signal output terminal to control the display screen connected to the display output interface to display the corresponding image.

[0015] Optionally, the display output interface is a Type-C interface.

[0016] Optionally, the main control device further includes at least one image sensing module, which is disposed on the main control circuit board. The image sensing module is used to take pictures of the exterior of the main control device and identify the identification code in the picture to obtain reading code information. The main control unit is also used to determine the current position of the transport vehicle based on the reading code information.

[0017] Optionally, the image sensing module includes an upper image sensing module and a lower image sensing module, and the main control circuit board includes a top circuit board and a bottom circuit board. The top circuit board and the bottom circuit board are electrically connected by a connector. The upper image sensing module is disposed on the top circuit board and is used to take pictures of the side of the top circuit board that is away from the bottom circuit board. The lower image sensing module is disposed on the bottom circuit board and is used to take pictures of the side of the bottom circuit board that is away from the top circuit board.

[0018] Optionally, a domain control device is provided on at least one side of the transport vehicle. The domain control device is used to receive sensor data from the sensors on the corresponding side of the transport vehicle. The plurality of module interfaces include at least one domain control interface, which is used to connect to the domain control device.

[0019] Optionally, the domain controller interface is an Ethernet interface, a Controller Area Network (CAN) bus interface, or a Universal Serial Bus (USB) interface.

[0020] Optionally, the domain control interface is a dual-channel controller local area network bus interface.

[0021] Optionally, the power input interface is an Ethernet interface, a Controller Area Network (CAN) bus interface, or a Universal Serial Bus (USB) interface.

[0022] Optionally, the main control unit is disposed on the bottom circuit board, and the power supply voltage conversion module is disposed on the top circuit board.

[0023] Optionally, the motor control interface is an Ethernet interface, a controller area network bus interface, or a universal serial bus interface.

[0024] Optionally, the plurality of module interfaces include at least one radar interface for connection to a lidar.

[0025] Optionally, the radar interface is an Ethernet interface, a controller area network bus interface, or a universal serial bus interface.

[0026] Preferably, the radar interface is an Ethernet interface.

[0027] Optionally, the plurality of module interfaces also include a stereo camera interface for connecting to a stereo camera.

[0028] Optionally, the binocular camera interface is an Ethernet interface, a Controller Area Network (CAN) bus interface, or a Universal Serial Bus (USB) interface.

[0029] As a second aspect of this application, a transport vehicle is provided, including a vehicle body, a main control device and a battery, wherein the main control device is the same as the main control device provided in the embodiments of this application, and the power input interface of the main control device is connected to the battery.

[0030] Optionally, a domain control device is provided on at least one side of the transport vehicle, the domain control device being used to receive sensor data from the sensors on the corresponding side of the transport vehicle; the multiple module interfaces of the main control device include at least one domain control interface, the domain control interface being used to connect to the domain control device;

[0031] At least one of the domain control devices includes a display screen, and the main control device further includes a display output interface disposed on the main control circuit board. The display output interface is connected to the display screen, and the main control unit is further configured to output display control signals through the display output interface to control the display screen to display the corresponding image.

[0032] Optionally, the transport vehicle further includes a power distribution module, and the power input interface of the main control device and the domain control device are both connected to the battery through the power distribution module.

[0033] Optionally, the vehicle body includes a chassis, a load-bearing platform, and a lifting assembly connected between the chassis and the load-bearing platform. The main control device is further used to control the lifting assembly to drive the load-bearing platform to move in a direction close to or away from the chassis. The main control circuit board of the main control device is disposed in the chassis. The travel wheels are disposed on the side of the chassis away from the load-bearing platform. The side of the chassis away from the load-bearing platform has a bottom clearance opening, and the load-bearing platform has a top clearance hole.

[0034] The image sensing module includes an upper image sensing module and a lower image sensing module. The main control circuit board includes a top circuit board and a bottom circuit board, which are electrically connected to each other. The upper image sensing module is disposed on the top circuit board and is used to take pictures of the side of the top circuit board away from the bottom circuit board through the top clearance hole. The lower image sensing module is disposed on the bottom circuit board and is used to take pictures of the side of the bottom circuit board away from the top circuit board through the bottom clearance hole.

[0035] Optionally, the transport vehicle further includes multiple travel wheel modules. Each travel wheel module includes a travel wheel, a motor driver, a motor, and a wheel axle housing. Both the motor driver and the motor are disposed in the wheel axle housing. The motor driver is used to control the motor to drive the travel wheel to rotate. The motor driver includes a drive circuit board and at least one signal interface disposed on the drive circuit board. The signal interface is electrically connected to the motor control interface of the main control device through a motor signal cable.

[0036] Optionally, the motor signal cable is sealed to the signal interface.

[0037] In this application, the main control unit is the core controller of the transport vehicle, used to realize the position feedback, driving control and motion control functions of the transport vehicle. That is, the main control unit receives sensor signals from various sensor modules through multiple module interfaces to determine the current environmental and position information of the transport vehicle, and reports this information to the warehouse control platform. The warehouse control platform plans the driving path of the transport vehicle based on the environmental and position information reported by the main control unit and sends path planning instructions to the main control unit of the transport vehicle. The main control unit outputs motor control signals in real time through the motor control interface to control the rotation speed of each traveling wheel of the transport vehicle (for example, it can control the synchronous rotation of the traveling wheels on both sides of the transport vehicle to achieve straight-line movement or control the differential rotation of the traveling wheels on both sides of the transport vehicle to achieve steering), thereby controlling the transport vehicle to travel along the corresponding path to the destination. The main control unit is also used to control the motion execution module to complete the handling and lifting actions to realize the function of picking up and placing material boxes.

[0038] The main control unit connects directly to other components in the transport vehicle via an interface. This design reduces intermediate connections and makes the interaction between modules more direct and efficient. Furthermore, the power voltage conversion module is directly integrated onto the main control circuit board of the main control unit, eliminating the need for separate power voltage conversion modules in other locations on the transport vehicle. This reduces the number of cables inside the transport vehicle, saves wiring space, improves the utilization rate of the transport vehicle's internal space, ensures the overall reliability of the transport vehicle, and enhances the efficiency of transport vehicle production, assembly, and maintenance. Attached Figure Description

[0039] The following description, in conjunction with the accompanying drawings, further illustrates this application:

[0040] Figure 1 is a schematic diagram of the main control device provided in an embodiment of this application;

[0041] Figure 2 is a schematic diagram of the structure of the domain control device provided in an embodiment of this application;

[0042] Figure 3 is a schematic diagram of the internal structure of the drive wheel axle housing of the transport vehicle provided in the embodiment of this application.

[0043] Figure labeling: Main control circuit board 10. Detailed Implementation

[0044] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain this application and should not be construed as limiting it.

[0045] The terms "an embodiment," "example," or "example" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this application. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0046] To address the aforementioned technical problems, as one aspect of this application, a main control device for a transport vehicle (i.e., an automated guided vehicle) is provided.

[0047] First, the structure of the main control device provided in this application will be described with reference to Figure 1.

[0048] As shown in Figure 1, the main control device includes a main control circuit board 10, a main control unit, and multiple module interfaces. The main control unit and module interfaces are all mounted on the main control circuit board 10. The main control device also includes a power voltage conversion module (i.e., the power module in Figure 1) and a power input interface. The power voltage conversion module and the power input interface are both mounted on the main control circuit board 10. The power supply voltage input terminal of the main control unit is electrically connected to the main control voltage output terminal of the power voltage conversion module. The input terminal of the power voltage conversion module is electrically connected to the power input interface. The multiple module voltage output terminals of the power voltage conversion module are electrically connected to the multiple module interfaces (not shown in the figure). The main control unit is also electrically connected to the multiple module interfaces.

[0049] The following section provides a detailed description of each unit, module, and interface included in the main control device.

[0050] 1. Power supply voltage conversion module

[0051] Understandably, the power supply voltage conversion module is used to connect to the battery of the transport vehicle through the power input interface, thereby interacting with the battery to realize the battery communication interaction function, and to reduce the battery voltage to the preset voltage applicable to the main control unit and other modules (that is, to realize the battery voltage reduction function, such as reducing the 48V output voltage of the battery to 24V that the main control device and its connected sensor modules can directly use).

[0052] In this application, the main control unit is the core controller of the transport vehicle, used to realize the position feedback, driving control and motion control functions of the transport vehicle. That is, the main control unit receives sensor signals from various sensor modules through multiple module interfaces to determine the current environmental information and position information of the transport vehicle, and reports this information to the warehouse control platform. The warehouse control platform plans the driving path of the transport vehicle according to the environmental information and position information reported by the main control unit and sends path planning instructions to the main control unit of the transport vehicle. The main control unit outputs motor control signals in real time to control the rotation speed of each traveling wheel of the transport vehicle (for example, it can control the synchronous rotation of the traveling wheels on both sides of the transport vehicle to achieve straight-line movement or control the differential rotation of the traveling wheels on both sides of the transport vehicle to achieve steering), thereby controlling the transport vehicle to travel along the corresponding path to the destination. The main control unit is also used to control the motion execution module to complete the handling action and lifting action to realize the function of picking up and placing the material box.

[0053] The main control unit connects directly to other components in the transport vehicle via an interface. This design reduces intermediate connections and makes the interaction between modules more direct and efficient. Simultaneously, the main control circuit board 10 is also equipped with a power voltage conversion module and a power input interface. That is, in this application, the power voltage conversion module is directly integrated into the main control circuit board 10 of the main control unit, eliminating the need for separate power voltage conversion modules for voltage reduction in other locations on the transport vehicle. This reduces the number of cables inside the transport vehicle and saves wiring space, while also improving the utilization rate of the transport vehicle's internal space, ensuring the overall reliability of the transport vehicle, and increasing the efficiency of transport vehicle production, assembly, and maintenance.

[0054] 2. Module Interface

[0055] As an optional implementation of this application, the multiple module interfaces include multiple communication interfaces (i.e., multiple interface structures in the left dashed box in Figure 1) and multiple control interfaces (i.e., multiple interface structures in the right dashed box in Figure 1). The multiple module voltage output terminals of the power supply voltage conversion module include multiple communication interface voltage output terminals corresponding to the multiple communication interfaces and multiple control interface output terminals corresponding to the multiple control interfaces. The communication interface voltage output terminals are electrically connected to the communication interfaces, and the control interface output terminals are electrically connected to the control interfaces. In this way, the power supply voltage conversion module can be regarded as a vehicle power supply module. It provides power to the communication devices in the transport vehicle through the communication interfaces and provides power to the control devices in the transport vehicle through the control interfaces. Since the power supply voltage conversion module is a module in the main control device, the main control device can be considered to integrate the functions of the vehicle power supply module. In this way, the transport vehicle does not need to set up a separate power supply module, thereby saving the internal space of the transport vehicle, reducing the connection harness between modules, and reducing the complexity of wiring.

[0056] As an optional implementation of this application, the type of module interface may include an Ethernet interface, a CAN bus interface, or a USB interface.

[0057] 3. Main control unit

[0058] The main control unit is electrically connected to multiple module interfaces to receive sensor signals from various sensors and other modules to determine the current environmental and location information of the transport vehicle, and then reports this information to the warehouse control platform where the transport vehicle is located.

[0059] As an optional implementation of this application, the main control unit is a CPU.

[0060] Alternatively, in other embodiments of this application, the main control unit may also be a System-on-a-Chip (SOC).

[0061] The power supply voltage conversion module will be further described below.

[0062] As an optional implementation of this application, the preset voltage used by the power supply voltage conversion module to implement the battery voltage reduction function is no higher than 24V.

[0063] As an optional implementation of this application, the power supply voltage conversion module is also used to obtain battery power information through the power input interface and send the battery power information to the main control unit.

[0064] The following section introduces the charging communication interface and the display output interface in the module interface.

[0065] As an optional embodiment of this application, as shown in FIG1, the main control device further includes a charging communication interface disposed on the main control circuit board 10. The transport vehicle is provided with a charging interface, and the charging communication interface is used to connect to the charging interface. The charging interface includes charging contacts or a charging plug, and can be electrically connected to the charging pile through contact or plug-in. The main control unit is also used to send control signals to the charging interface through the charging communication interface so that the charging interface can conduct the battery to the charging pile, thereby realizing the charging pile communication interaction function between the charging interface and the charging pile.

[0066] As an optional implementation of this application, as shown in FIG1, the control interface includes a display output interface disposed on the main control circuit board 10. The display signal output terminal of the main control unit is electrically connected to the display output interface. The main control unit is also used to output a display control signal to the display signal output terminal to control the display screen connected to the display output interface to display the corresponding image, thereby facilitating the operator to view the information of the transport vehicle in real time.

[0067] This application embodiment does not specifically limit the content of the screen displayed by the main control unit. For example, the display screen may include real-time image data from sensors (such as LiDAR data, image information from binocular cameras, etc.), map information, operation interface, status alarms, and other information.

[0068] Alternatively, the display screen can be an LCD display screen.

[0069] As an optional implementation of this application, the display output interface is a Type-C interface.

[0070] In addition to the main control unit, power supply voltage conversion module and multiple module interfaces, the main control device may also include other modules to achieve other functions.

[0071] The following section introduces the image sensing module included in the main control device.

[0072] As an optional implementation of this application, as shown in FIG1, the main control device further includes at least one code reading camera (i.e., an image sensing module, including an upper image sensing module and a lower image sensing module). The image sensing module is disposed on the main control circuit board 10. The image sensing module is used to take pictures of the exterior of the main control device and identify the identification code in the picture to obtain the code reading information. The main control unit is also used to determine the current position of the transport vehicle based on the code reading information to ensure the position accuracy of the transport vehicle.

[0073] As a preferred embodiment of this application, as shown in FIG1, the image sensing module includes an upper image sensing module and a lower image sensing module. The main control circuit board 10 includes a top circuit board and a bottom circuit board, which are electrically connected by a connector. The upper image sensing module is disposed on the top circuit board and is used to take pictures of the side of the top circuit board away from the bottom circuit board. The lower image sensing module is disposed on the bottom circuit board and is used to take pictures of the side of the bottom circuit board away from the top circuit board.

[0074] It is understood that the top circuit board and the bottom circuit board are spaced apart along the height direction under normal use, and the top circuit board is located above the bottom circuit board. In this embodiment, the main control circuit board 10 includes a top circuit board and a bottom circuit board. The two circuit boards are spliced ​​together by a connector, thereby integrating the upper image sensing module and the lower image sensing module into the main control circuit board 10, further reducing the number of cables and improving the utilization rate of the internal space of the transport vehicle. At the same time, the multi-layer circuit board structure ensures the integration of the main control circuit board 10, reduces the lateral space volume of the main control circuit board 10, and further ensures the compactness of the transport vehicle structure.

[0075] As an optional implementation of this application, the main control unit is disposed on the bottom circuit board, and the power supply voltage conversion module is disposed on the top circuit board.

[0076] In addition to the charging communication interface and display output interface mentioned above, the module interfaces in the main control device may also include the following types of interfaces.

[0077] As an optional embodiment of this application, a domain control device is provided on at least one side of the transport vehicle. The domain control device is used to receive sensor data from the sensors on the corresponding side of the transport vehicle. As shown in FIG1, the multiple module interfaces include at least one domain control interface. The domain control interface is used to connect to the domain control device (i.e., the domain control module in FIG1). The domain control device is located on one side of the transport vehicle and is used to collect feedback signals from various sensors (e.g., ranging sensors) on the transport vehicle, integrate all signals, and send the integrated signal to the main control device through the domain control interface so that the main control device can realize the navigation function.

[0078] As an optional implementation of this application, as shown in Figure 1, a domain control module is provided on each side of the transport vehicle. Correspondingly, the multiple module interfaces include a first domain control interface and a second domain control interface.

[0079] As an optional implementation of this application, the domain controller interface is an Ethernet interface, a CAN bus interface, or a USB interface.

[0080] To ensure the reliability of sensor signal transmission by the transport vehicle, as a preferred embodiment of this application, the domain control interface is a dual-channel controller local area network bus interface.

[0081] As an optional implementation of this application, the power input interface is an Ethernet interface, a Controller Area Network (CLAN) bus interface, or a Universal Serial Bus (USB) interface.

[0082] As an optional implementation of this application, as shown in Figure 1, the multiple module interfaces also include multiple motor control interfaces. The motor control interfaces are electrically connected to the motor driver that drives the travel wheels of the transport vehicle to rotate via motor signal cables. The main control unit is used to output motor control signals to the motor driver through the motor control interfaces to control the rotation speed of each travel wheel of the transport vehicle.

[0083] As an optional implementation of this application, the motor control interface is an Ethernet interface, a controller area network bus interface, or a universal serial bus interface.

[0084] As an optional implementation of this application, as shown in Figure 1, the multiple module interfaces include at least one radar interface, which is used to connect to a lidar. The main control unit receives the radar imaging signal acquired by the lidar through the radar interface.

[0085] As an optional implementation of this application, the radar interface is an Ethernet interface, a controller area network bus interface, or a universal serial bus interface.

[0086] Preferably, the radar interface is an Ethernet interface to ensure the rate at which the main control unit receives radar imaging signals.

[0087] As an optional implementation of this application, as shown in Figure 1, the multiple module interfaces also include a stereo camera interface, which is used to connect to a stereo camera. The main control unit receives image data acquired by the stereo camera through the stereo camera interface.

[0088] As an optional implementation of this application, the binocular camera interface is an Ethernet interface, a Controller Area Network (CAN) bus interface, or a Universal Serial Bus (USB) interface.

[0089] As a second aspect of this application, a transport vehicle is provided, including a vehicle body, a main control device and a battery. The main control device is the same as the one provided in the embodiments of this application, and the power input interface of the main control device is connected to the battery.

[0090] In the transport vehicle provided in this application, the power supply voltage conversion module is directly integrated on the main control circuit board 10 of the main control device, so that there is no need to set up a separate power supply voltage conversion module for voltage reduction in other locations of the transport vehicle. This reduces the number of cables inside the transport vehicle and saves wiring space, while improving the utilization rate of the internal space of the transport vehicle, ensuring the overall reliability of the transport vehicle, and improving the efficiency of transport vehicle production, assembly and maintenance.

[0091] As an optional embodiment of this application, a domain control device is provided on at least one side of the transport vehicle, as shown in FIG2, which illustrates the structure of a domain control device. The domain control device will now be described with reference to FIG2.

[0092] The domain control device is used to receive sensor data from the sensors on the corresponding side of the transport vehicle. As shown in Figure 2, the domain control device includes four sensor interfaces, which are connected to four types of sensors respectively. The domain control device receives sensor data from the sensors through these four sensor interfaces. In addition, the main control device has multiple module interfaces, including at least one domain control interface, which is used to connect to the domain control device.

[0093] At least one domain control device integrates a display screen function. The domain control device includes a display screen, a first processing unit, and a display input interface. The main control device also includes a display output interface mounted on the main control circuit board 10. The display input interface in the domain control device is connected to the display output interface in the main control device to receive display control signals sent by the main control device. The first processing unit is connected to the display input interface to acquire the display control signals received from the display input interface and drive the display screen to display images, videos, etc., based on the display control signals. Therefore, the domain control device indirectly connects the display output interface and the display screen through the display input interface and the first processing unit. The main control unit also outputs display control signals through the display output interface to control the display screen to display the corresponding images. In addition, the display screen can also display real-time images collected by sensors included in the transport vehicle, the user interface, status alarm images, etc.

[0094] As an optional implementation of this application, the above-mentioned display input interface is a Type-C interface or other high-speed data interface.

[0095] The domain control device includes an electrical device interface for connecting to external electrical devices, enabling the domain control device to perform various functions by controlling the electrical devices, such as light-emitting diode (LED) control, barometric pressure detection, sensor control, buzzer control, power supply, and so on.

[0096] As an optional embodiment of this application, the domain control device includes a touch screen and a second processing unit, and the touch screen processing function is implemented based on the touch screen and the second processing unit.

[0097] As an optional embodiment of this application, the first processing unit and / or the second processing unit described above are microcontroller units (MCUs).

[0098] As an optional embodiment of this application, the domain control device used in the transport vehicle is a device that meets the standard requirements of CE certification. The device includes a button interface, which is connected to an emergency stop button. When the emergency stop button is opened, the domain control device can trigger a corresponding emergency stop operation.

[0099] As an optional implementation of this application, each interface in the domain control device consists of one or more connectors, supporting various preset interface protocols, including but not limited to Universal Asynchronous Receiver / Transmitter (UART), CAN, input / output interfaces (IO), analog-to-digital converters (ADC), etc. This design can simplify the overall design of the transport vehicle to the greatest extent, reduce the occupation of controls, and reduce the length of wiring harnesses and wiring complexity.

[0100] In addition, to ensure the reliability of the sensor signal transmission of the domain control device, as a preferred embodiment of this application, each interface in the domain control device is a dual-channel controller area network bus interface.

[0101] As an optional embodiment of this application, the transport vehicle also includes a power distribution module, and the power input interface of the main control device and the domain control device are both connected to the battery through the power distribution module.

[0102] As an optional embodiment of this application, the vehicle body includes a chassis, a load-bearing platform, and a lifting assembly connected between the chassis and the load-bearing platform. The main control device is also used to drive the load-bearing platform to move in a direction close to or away from the chassis by controlling the lifting assembly. The main control circuit board 10 of the main control device is disposed in the chassis, and the travel wheels are disposed on the side of the chassis away from the load-bearing platform. The side of the chassis away from the load-bearing platform has a bottom clearance opening, and the load-bearing platform has a top clearance hole.

[0103] In the main control device, the image sensing module includes an upper image sensing module and a lower image sensing module. When the main control circuit board 10 includes a top circuit board and a bottom circuit board, the top circuit board and the bottom circuit board are electrically connected to each other. The upper image sensing module is disposed on the top circuit board and is used to take pictures of the side of the top circuit board away from the bottom circuit board through the top clearance hole. The lower image sensing module is disposed on the bottom circuit board and is used to take pictures of the side of the bottom circuit board away from the top circuit board through the bottom clearance hole.

[0104] As an optional embodiment of this application, the transport vehicle also includes multiple travel wheel modules. Each travel wheel module includes a travel wheel, a motor driver, a motor, and a wheel axle housing. Both the motor driver and the motor are disposed in the wheel axle housing. The motor driver is used to control the motor to drive the travel wheel to rotate. The motor driver includes a drive circuit board and at least one signal interface disposed on the drive circuit board. The signal interface is electrically connected to the motor control interface of the main control device through a motor signal cable.

[0105] To ensure the waterproof and dustproof performance of the wheel axle housing, in a preferred embodiment of this application, the motor signal cable is sealed to the signal interface. Specifically, the plug of the motor signal cable is covered with a sealing plug, which can seal the gap between the plug of the motor signal cable and the inner wall of the signal interface.

[0106] Optionally, as shown in Figure 3, the motor driver also includes at least one power interface (i.e., the power supply interface in Figure 3) disposed on the drive circuit board, the power interface being electrically connected to the battery via the motor power cable.

[0107] As an optional implementation of this application, the signal interface and power supply interface in the motor driver consist of one or more connectors, supporting multiple input forms such as power input and signal input.

[0108] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Those skilled in the art should understand that this application includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this application will be included within the scope of the claims.

Claims

1. A main control device for a transport vehicle, the main control device comprising a main control circuit board, a main control unit, and multiple module interfaces, wherein the main control unit and the module interfaces are all disposed on the main control circuit board, characterized in that, The main control device also includes a power voltage conversion module and a power input interface. Both the power voltage conversion module and the power input interface are mounted on the main control circuit board. The power supply voltage input terminal of the main control unit is electrically connected to the main control voltage output terminal of the power voltage conversion module. The input terminal of the power voltage conversion module is electrically connected to the power input interface. The multiple module voltage output terminals of the power voltage conversion module are respectively electrically connected to the multiple module interfaces.

2. The main control device according to claim 1, characterized in that, The plurality of module interfaces include a plurality of communication interfaces and a plurality of control interfaces. The plurality of module voltage output terminals of the power supply voltage conversion module include a plurality of communication interface voltage output terminals corresponding to the plurality of communication interfaces and a plurality of control interface output terminals corresponding to the plurality of control interfaces.

3. The main control device according to claim 2, characterized in that, The control interface includes a display output interface disposed on the main control circuit board, and the display signal output terminal of the main control unit is electrically connected to the display output interface.

4. The main control device according to claim 1, characterized in that, The main control device also includes at least one image sensing module, which is mounted on the main control circuit board.

5. The main control device according to claim 4, characterized in that, The image sensing module includes an upper image sensing module and a lower image sensing module. The main control circuit board includes a top circuit board and a bottom circuit board, which are electrically connected by a connector. The upper image sensing module is disposed on the top circuit board and is used to take pictures of the side of the top circuit board that is away from the bottom circuit board. The lower image sensing module is disposed on the bottom circuit board and is used to take pictures of the side of the bottom circuit board that is away from the top circuit board.

6. The main control device according to claim 5, characterized in that, The main control unit is mounted on the bottom circuit board, and the power supply voltage conversion module is mounted on the top circuit board.

7. The main control device according to any one of claims 1 to 6, characterized in that, The plurality of module interfaces include at least one of the following interfaces: A radar interface for connecting to a lidar; A domain controller interface, which is used to connect to a domain controller device; A stereo camera interface for connecting to a stereo camera.

8. The main control device according to any one of claims 1 to 6, characterized in that, The module interface is an Ethernet interface, a controller area network bus interface, or a universal serial bus interface.

9. A transport vehicle, comprising a vehicle body, a main control device, and a battery, wherein the main control device and the battery are both disposed within the vehicle body, characterized in that, The main control device is the main control device according to any one of claims 1 to 8, and the power input interface of the main control device is connected to the battery.

10. The transport vehicle according to claim 9, characterized in that, The transport vehicle also includes multiple travel wheel modules. Each travel wheel module includes a travel wheel, a motor driver, a motor, and a wheel axle housing. The motor driver and the motor are both disposed in the wheel axle housing. The motor driver is used to control the motor to drive the travel wheel to rotate. The motor driver includes a drive circuit board and at least one signal interface disposed on the drive circuit board. The signal interface is electrically connected to the motor control interface of the main control device.

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