CN210691084U

CN210691084U - Intelligent mobile robot controller

Info

Publication number: CN210691084U
Application number: CN201921981982.1U
Authority: CN
Inventors: 关腾腾; 刘兵; 李庆飞
Original assignee: Tianjin Xinsong Intelligent Technology Co Ltd
Current assignee: Tianjin Xinsong Intelligent Technology Co Ltd
Priority date: 2019-11-15
Filing date: 2019-11-15
Publication date: 2020-06-05
Anticipated expiration: 2029-11-15

Abstract

The utility model relates to an intelligent movement robot controller, including structural part and electric part, its characterized in that, structural part includes radiator, panel, rear panel and bottom plate, and the radiator is including heat dissipation casing and cold drawing, and the top surface and the equal opening in bottom surface of heat dissipation casing, panel and rear panel are located the top surface and the bottom surface of heat dissipation casing respectively, and the bottom plate is fixed in one side of heat dissipation casing, and electric part includes main control board, AGV support plate and IO board. The utility model provides a low performance of intelligent Mobile robot controller system, the resource is few, the not good problem of real-time in the past. The utility model discloses adopt the reinforcement design to inside function module structural style, structural layout is reasonable, easily operates, makes things convenient for the application of each scene in later stage, facilitates for the customer uses.

Description

Intelligent mobile robot controller

Technical Field

The utility model relates to a controller technical field especially relates to an intelligent mobile robot controller.

Background

The intelligent mobile robot controller is a core component of a mobile robot, is mainly applied to a carrying link of an automatic factory, and can be divided into a workshop material carrying robot, a laser forklift robot, a goods shelf robot and the like in practical application of the factory. The intelligent mobile robot controller mainly realizes the functions of man-machine interaction, interface communication, signal operation processing and the like, the intelligent mobile robot controller system is used as a center of the mobile robot, the signals of the mobile robot sensor are collected, the collected information is analyzed, compared and judged in the controller, then the output relay module of the robot is controlled, and finally the functions of automatic identification, path planning, automatic obstacle avoidance and the like of the mobile robot in the working process are realized, and the actual production requirements are met.

The intelligent mobile robot is a robot system with specific functions, belongs to artificial intelligence, can effectively avoid obstacles and autonomously move towards a target on the basis of sensing environment and self of a sensor, basically breaks away from the condition of manual intervention, has the capability of dynamic decision and planning, can realize behavior control and execution, has the characteristics of good maneuverability, strong environment sensing capability and the like, and has wide application value in production and life. The intelligent mobile robot controller technology is becoming mature, but with the continuous update of software and hardware technology and the application in different scenes, the performance, processing speed and operation real-time performance of the controller are all required to be higher, the mobile robot controller in the current stage cannot meet the actual application requirements, and the controller product with higher performance is urgently to be promoted.

Disclosure of Invention

The utility model aims at solving the defects of the prior art and provides an intelligent mobile robot controller.

The utility model discloses a realize above-mentioned purpose, adopt following technical scheme: an intelligent mobile robot controller comprises a structural part and an electrical part, and is characterized in that the structural part comprises a radiator, a panel, a rear panel and a bottom plate, the radiator comprises a radiating shell and a cold plate, the top surface and the bottom surface of the radiating shell are both provided with openings, the panel and the rear panel are respectively positioned on the top surface and the bottom surface of the radiating shell, the bottom plate is fixed on one side of the radiating shell, the electrical part comprises a main control board, an AGV support plate and an IO board, the main control board, the AGV support plate, the IO board and the cold plate are all positioned in the radiating shell, the main control board is positioned between the cold plate and the AGV support plate, the main control board is electrically connected with the AGV support plate, and the IO board is electrically connected with the AGV carrier plate, each interface on the IO board passes through the matched interface hole on the panel and is exposed outside the heat dissipation shell, the main control board comprises a CPU chip, a bridge chip CS5536 and a network card Intel82559, and the bridge chip CS5536 and the network card Intel82559 are connected with the CPU chip through a PCI BUS BUS.

The CPU chip on the main control board is attached to the cold plate, and a heat conducting pad is arranged at the attaching position.

The IO board is provided with a USB interface, a CAN interface, a UART interface, a VGA interface and a NET interface.

The USB interface is connected with external debugging equipment, the CAN interface is connected with output equipment, the UART interface is connected with a sensor device, the VGA interface is connected with a display, and the NET interface is standby.

The heat dissipation shell and the rear panel are both provided with a plurality of heat dissipation fins.

The components and parts electric capacity on main control board, AGV support plate and the IO board all passes through the adhesive and fixes.

The adhesive is a modified acrylate adhesive.

The bottom plate is fixed on the radiating shell through bolts, and a pair of rubber pads are sleeved on the bolts and are respectively attached to the two sides of the bottom plate.

The utility model has the advantages that: the utility model provides a low performance of intelligent Mobile robot controller system, the resource is few, the not good problem of real-time in the past. The utility model discloses adopt the reinforcement design to inside function module structural style, structural layout is reasonable, easily operates, makes things convenient for the application of each scene in later stage, facilitates for the customer uses.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a bottom view of the present invention;

fig. 3 is a left side view of the present invention;

FIG. 4 is a cross-sectional view A-A of FIG. 3;

FIG. 5 is a schematic structural diagram of a panel;

fig. 6 is a connection block diagram of the present invention with an external device;

FIG. 7 is a functional block diagram of a main control board;

in the figure: 1-a radiator; 2-a panel; 3-a bottom plate; 4-a heat dissipation shell; 5-a rear panel; 6, a main control board; 7-AGV carrier plate; 8-IO board; 9-a cold plate;

the following detailed description will be made in conjunction with embodiments of the present invention with reference to the accompanying drawings.

Detailed Description

The invention will be further explained with reference to the following figures and examples:

as shown in fig. 1 to 7, an intelligent mobile robot controller comprises a structural part and an electrical part, wherein the structural part comprises a radiator 1, a panel 2, a rear panel 5 and a bottom plate 3, the radiator 1 comprises a radiating shell 4 and a cold plate 9, the top surface and the bottom surface of the radiating shell 4 are both open, the panel 2 and the rear panel 5 are respectively located on the top surface and the bottom surface of the radiating shell 4, the bottom plate 3 is fixed on one side of the radiating shell 4, the electrical part comprises a main control board 6, an AGV support plate 7 and an IO board 8, the main control board 6, the AGV support plate 7, the IO board 8 and the cold plate 9 are all located in the radiating shell 4, the main control board 6 is located between the cold plate 9 and the AGV support plate 7, the main control board 6 is electrically connected with the AGV support plate 7, the IO board 8 is located on the top surface of the AGV support plate 7, and the IO board 8 is electrically connected with the AGV support plate 7, the main control board 6 comprises a CPU chip, a bridge CS5536 and a network card Intel82559, wherein the bridge CS5536 and the network card Intel82559 are connected with the CPU chip through a PCI BUS.

The CPU chip on the main control board 6 is jointed with the cold plate 9, and a heat conducting pad is arranged at the joint.

The IO board 8 is provided with a USB interface, a CAN interface, a UART interface, a VGA interface and a NET interface.

The heat dissipation shell 4 and the rear panel 5 are both provided with a plurality of heat dissipation fins.

The main control board 6, the AGV support board 7 and the component capacitors on the IO board 8 are all fixed through an adhesive.

The adhesive is a modified acrylate adhesive.

The bottom plate 3 is fixed on the heat dissipation shell 4 through bolts, and a pair of rubber pads is sleeved on the bolts and is respectively attached to two sides of the bottom plate 3.

The utility model discloses the during operation, intelligent movement robot controller communicates through RS232 interface, RS422 interface and the sensor device of UART interface extension, and the sensor device includes temperature sensor, humidity transducer, position sensor etc. removes robot controller and collects, analyzes sensor acquisition information, assesses the peripheral environmental condition of robot, and then controls output device, ensures that the robot work is under safe environment.

The intelligent mobile robot controller realizes the operation of the motor and the opening and closing of the switch valve through the CAN bus and the GPIO extension relay module, thereby controlling the operation, the stop, the rotation and the like of the robot.

The intelligent mobile robot communicates with the outside through a network, packages the running condition of the robot, data such as information uploaded by the sensor device and the like, and historical action data of the relay device, reports the packaged data to a server or other mobile robots, and coordinates a plurality of robots to finish the same task together.

The intelligent robot carries out human-computer interaction through the external display of VGA interface, ensures that the staff can set for, modify the parameter of mobile robot, debugs, software upgrading mobile robot controller through the USB interface, ensures the flexibility that the robot controller used.

The utility model provides a low performance of intelligent Mobile robot controller system, the resource is few, the not good problem of real-time in the past. CPU chip on the main control board 6 is equipped with the heat conduction pad with the 9 laminating departments of cold drawing on cold drawing and all is equipped with the cushion through that the adhesive is fixed, bottom plate 3 fixed position on the AGV support plate 7 and the IO board 8, the utility model discloses adopt the reinforcement design to inside function module structural style, structural configuration is reasonable, easily operates, makes things convenient for the application of each scene in later stage, provides convenience for the customer uses.

Functional description of the main control board 6:

a. onboard DDR memory

The K4H511638C 60 FBGA WITH Pb-Free module is selected for on-board DDR memory, and DDRSDRAM characteristics are shown in the following table.

Item	60ball FBGA
		Voltage	+2.6V
Mode	DDR SDRAM
		Parity	None
Speed	133MHz
		Capacity	512MB

b. Ethernet interface

An Ethernet controller Intel82559 of the intelligent mobile robot controller is a high-performance hundred-mega Ethernet 10/100Mbit Ethernet controller which supports the 10Base-T and 100Base-TX protocols. The registration and identification of the intelligent mobile robot controller on the system's local area network requires a unique ID number, which is stored in an ethernet EEPROM. Installing software: the drivers available to the Intel82559 ethernet controller can support many operating systems. The product technology information optical disc provided by the intelligent mobile robot controller contains the most common driving software and tools.

c. Keyboard/mouse controller

The communication between the PC and the keyboard is completed by a Super IO chip extension, and the device also provides a PS/2 mouse interface.

d. Serial interface

The smart mobile robot controller serial interface may have a 16 byte FIFO, thereby providing higher performance than previously using a standard serial interface. The UART has a programmable baud rate generator from 50 to 115200 baud. The 2 serial interfaces are mapped by I/O to address ranges.

e. CAN interface

A CAN interface: and 2 paths of CAN interfaces are expanded through the main FPGA, and the standard of CAN2.0B is met.

f. VGA interface

The VGA interface of the intelligent mobile robot controller is controlled and output by a display card integrated in the CPU of the main control board 6, and the resolution is 1024 multiplied by 768 at most.

g. AGV board carries 7 lithium cell

3V/200mAh lithium battery, and the service life is 10 years at +25 ℃.

Temperature of	Power supply switch	Power switch
			-40℃	120 months old	9 months old
-20℃	120 months old	14 months old
			0℃	120 months old	19 months old
+20℃	120 months old	21 month
			+40℃	100 months old	20 months old
+60℃	80 months old	19 months old

The present invention has been described above with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above embodiments, and various improvements made by the method concept and technical solution of the present invention or directly applied to other occasions without improvement are all within the protection scope of the present invention.

Claims

1. An intelligent mobile robot controller comprises a structural part and an electrical part, and is characterized in that the structural part comprises a radiator (1), a panel (2), a rear panel (5) and a bottom plate (3), the radiator (1) comprises a radiating shell (4) and a cold plate (9), the top surface and the bottom surface of the radiating shell (4) are both provided with openings, the panel (2) and the rear panel (5) are respectively positioned on the top surface and the bottom surface of the radiating shell (4), the bottom plate (3) is fixed on one side of the radiating shell (4), the electrical part comprises a main control board (6), an AGV carrier plate (7) and an IO board (8), the main control board (6), the AGV carrier plate (7), the IO board (8) and the cold plate (9) are all positioned in the radiating shell (4), the main control board (6) is positioned between the cold plate (9) and the cold plate (7), the main control board (6) is electrically connected with the AGV carrier plate (7), the IO board (8) is positioned on the top surface of, and the IO board (8) is electrically connected with the AGV carrier plate (7), each interface on the IO board (8) passes through the matched interface hole on the panel (2) and is exposed outside the heat dissipation shell (4), the main control board (6) comprises a CPU chip, a bridge chip CS5536 and a network card Intel82559, and the bridge chip CS5536 and the network card Intel82559 are connected with the CPU chip through a PCIBUS bus.

2. The intelligent mobile robot controller according to claim 1, wherein the CPU chip on the main control board (6) is attached to the cold plate (9) and a heat conducting pad is disposed at the attached position.

3. The intelligent mobile robot controller according to claim 1, wherein the IO board (8) is provided with a USB interface, a CAN port, a UART port, a VGA port, and a NET port.

4. The intelligent mobile robot controller of claim 3, wherein the USB interface is connected to an external debugging device, the CAN interface is connected to an output device, the UART interface is connected to the sensor device, the VGA interface is connected to the display, and the NET interface is reserved.

5. The intelligent mobile robot controller according to claim 1, wherein a plurality of cooling fins are provided on both the heat dissipation case (4) and the rear panel (5).

6. The intelligent mobile robot controller according to claim 1, wherein the capacitors of the components on the main control board (6), the AGV carrier board (7) and the IO board (8) are fixed by adhesive.

7. The intelligent mobile robot controller according to claim 1, wherein the base plate (3) is fixed to the heat dissipation housing (4) by bolts, and a pair of rubber pads are sleeved on the bolts and respectively attached to two sides of the base plate (3).