WO2021253752A1 - 一种控制器及可移动平台 - Google Patents

一种控制器及可移动平台 Download PDF

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Publication number
WO2021253752A1
WO2021253752A1 PCT/CN2020/135406 CN2020135406W WO2021253752A1 WO 2021253752 A1 WO2021253752 A1 WO 2021253752A1 CN 2020135406 W CN2020135406 W CN 2020135406W WO 2021253752 A1 WO2021253752 A1 WO 2021253752A1
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WO
WIPO (PCT)
Prior art keywords
interface
circuit board
housing
controller
flexible
Prior art date
Application number
PCT/CN2020/135406
Other languages
English (en)
French (fr)
Inventor
莫敬植
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080074699.XA priority Critical patent/CN114600565B/zh
Publication of WO2021253752A1 publication Critical patent/WO2021253752A1/zh

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/46—Bases; Cases
    • H01R13/52—Dustproof, splashproof, drip-proof, waterproof, or flameproof cases
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/73—Means for mounting coupling parts to apparatus or structures, e.g. to a wall
    • H01R13/74—Means for mounting coupling parts in openings of a panel
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R31/00—Coupling parts supported only by co-operation with counterpart
    • H01R31/06—Intermediate parts for linking two coupling parts, e.g. adapter
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K5/00—Casings, cabinets or drawers for electric apparatus
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K5/00—Casings, cabinets or drawers for electric apparatus
    • H05K5/06—Hermetically-sealed casings

Definitions

  • the present disclosure relates to the technical field of electronic equipment, and in particular to a controller and a movable platform.
  • various sensors for example, a vision sensor module, an ultrasonic radar module, etc.
  • the signals transmitted between the on-board controller and the above-mentioned sensors are generally digital signals or analog signals. Therefore, the on-board controller and various sensors are usually connected by connectors, such as fakra connectors.
  • the existing connector has poor protection performance, and can only meet the vertical plug-in requirements of the external wiring of the on-board controller, but cannot meet the horizontal plug-in requirements of the external wiring.
  • the embodiments of the present disclosure are proposed in order to provide a controller and a movable platform that overcome the above-mentioned problems or at least partially solve the above-mentioned problems.
  • the present disclosure discloses a controller, characterized in that the controller includes: a housing, a sealing member, a first circuit board and an adapter;
  • the housing forms a containing cavity, and an opening connected to the containing cavity is provided on the housing;
  • the first circuit board is arranged in the accommodating cavity
  • the adaptor is at least partially disposed in the accommodating cavity, the adaptor includes a flexible main body, and a first interface provided at one end of the flexible main body, and the first interface is used to communicate with the outside of the controller.
  • the electrical connector of the device is plugged in, and the first interface is exposed out of the housing through the opening part, and the other end of the flexible body is used for electrical connection with the first circuit board;
  • the sealing member is arranged between the first interface and the periphery of the opening of the housing to seal the gap between the first interface and the periphery of the opening.
  • the embodiment of the present disclosure also discloses a movable platform, including: the above-mentioned controller.
  • the sealing element since the sealing element is disposed between the first interface and the housing, the sealing element can function as a waterproof seal, which can effectively improve the waterproof level of the controller.
  • the adapter includes a flexible main body, and a first interface provided at one end of the flexible main body, the first interface is exposed out of the housing through the opening, and the other end of the flexible main body is used for communication with The first circuit board is electrically connected. Therefore, in practical applications, by bending the flexible body, the position of the first interface on the housing can be adjusted according to actual needs, so as to meet the external requirements of the first interface. The change of the wiring plugging direction (regardless of the horizontal, vertical and inclined plugging and unplugging can be satisfied). In addition, the direction of the first interface does not affect the layout of the circuit board in the controller, which can also effectively reduce the layout difficulty of the electronic devices in the controller and improve the layout flexibility of the electronic devices in the controller.
  • Fig. 1 is a schematic diagram of a controller according to an embodiment of the present disclosure
  • Figure 2 is an exploded view of the controller shown in Figure 1;
  • Figure 3 is one of the schematic diagrams of the adapter in the embodiment of the present disclosure.
  • Fig. 4 is a schematic diagram of the installation of the adapter shown in Fig. 3 on the housing;
  • Fig. 5 is an enlarged schematic diagram of position A in Fig. 4;
  • Fig. 6 is a schematic cross-sectional view of the controller shown in Fig. 1;
  • Fig. 7 is an enlarged schematic diagram of position B in Fig. 6;
  • Fig. 8 is a schematic diagram of another controller according to an embodiment of the present disclosure.
  • Figure 9 is an exploded view of the controller shown in Figure 8.
  • Fig. 10 is a schematic diagram of a partial structure of the controller shown in Fig. 8;
  • Fig. 11 is an enlarged schematic diagram of position C in Fig. 10;
  • Figure 12 is the second schematic diagram of the adapter in the embodiment of the present disclosure.
  • Figure 13 is the third schematic diagram of the adapter in the embodiment of the present disclosure.
  • Fig. 14 is the fourth schematic diagram of the adaptor in the embodiment of the present disclosure.
  • 10 housing; 20: seal; 30: first circuit board; 40: adapter; 101: receiving cavity; 102: opening; 401: flexible body; 402: first interface; 11: cover; 12: Base; 41: terminal connector; 42: shell; 421: flange; 422: hook; 4211: groove; 403: second interface; 50: second circuit board; 111: heat sink.
  • various sensors for example, a vision sensor module, an ultrasonic radar module, etc.
  • the signals transmitted between the on-board controller and the above-mentioned sensors are generally digital signals or analog signals. Therefore, the on-board controller and various sensors are usually connected by connectors, such as fakra connectors.
  • the existing connector has poor protection performance, and can only meet the vertical plug-in requirements of the external wiring of the on-board controller, but cannot meet the horizontal plug-in requirements of the external wiring.
  • a fakra connector is provided between the on-board controller and various sensors.
  • the connector is directly soldered on the circuit board of the vehicle controller.
  • fakra connectors vertical fakra connectors or horizontal fakra connectors
  • the aforementioned fakra connector cannot meet the IP6K7 protection requirements of the on-board controller.
  • the fakra connector is directly welded on the circuit board, the layout of the circuit board in the on-board controller is limited and the flexibility is low.
  • the related technology also provides an integrated structure of the fakra flange and the SMB terminal.
  • the fakra flange is electrically connected to the SMB terminal, and the SMB terminal is connected to the circuit in the vehicle controller.
  • the board is welded and connected, and the protection level of the on-board controller is improved by setting a sealing ring between the fakra flange and the housing.
  • the above-mentioned integrated structure of the fakra flange and the SMB terminal can only be welded vertically on the circuit board, it can only meet the vertical insertion and removal requirements of the external wiring of the vehicle controller, and cannot meet the horizontal insertion and removal requirements of the external wiring. .
  • the layout of the circuit board in the on-board controller is limited, and the layout flexibility of the on-board controller is reduced.
  • the present disclosure provides a controller, including but not limited to a vehicle-mounted controller, a vehicle-mounted visual sensor controller, a vehicle-mounted radio frequency antenna controller, and the like.
  • a controller including but not limited to a vehicle-mounted controller, a vehicle-mounted visual sensor controller, a vehicle-mounted radio frequency antenna controller, and the like.
  • the embodiments of the present application only take the on-board controller as an example for explanation, and other reference may be made for execution.
  • the controller may specifically include: a housing 10, a sealing member 20, a first circuit board 30, and an adapter 40; the housing 10 forms an accommodating cavity 101, and the housing 10 is provided with There is an opening 102 connected to the accommodating cavity 101; the first circuit board 30 is arranged in the accommodating cavity 101; the adapter 40 is at least partially arranged in the accommodating cavity 101, and the adapter 40 includes a flexible body 401 and is arranged at one end of the flexible body 401 The first interface 402 is exposed out of the housing 10 through the opening 102.
  • the first interface 402 is used for plugging with an electrical connector of an external device of the controller.
  • the other end of the flexible body 401 is used for electrical connection with the first circuit board 30; the sealing member 20 is disposed between the first interface 402 and the housing 10.
  • the sealing member 20 is disposed between the first interface 402 and the periphery of the opening 102 of the housing 10 to seal the gap between the first interface 402 and the periphery of the opening 102.
  • vehicle-mounted controllers need to connect to various types of sensor modules for communication, including but not limited to vision sensor modules, vehicle-mounted radio frequency antenna modules, millimeter-wave radar modules, and ultrasonic radar modules.
  • the signals transmitted between the vehicle controller and the above-mentioned sensor modules are generally digital signals or analog signals, which require the use of coaxial cables for transmission.
  • the interface connecting the coaxial line is generally called the coaxial line interface, for example, the fakra interface commonly used in the automotive field.
  • the coaxial line interface for example, the fakra interface commonly used in the automotive field.
  • the first interface 402 may be an interface for connecting a coaxial line, including but not limited to a fakra interface.
  • a fakra interface The embodiment of the present application only uses the fakra interface as an example for explanation, and other references may be implemented.
  • the first circuit board 30 is used to judge and process the data of the external sensor module transmitted by the adapter 40.
  • the first circuit board 30 can also be provided with various interfaces matching its functions. Circuits and electronic devices are not described in detail in the embodiment of the present application.
  • a seal 20 is provided between the first interface 402 and the housing 10 of the controller, so that water, dust, etc., can be prevented from entering the containing cavity 101 from the opening 102, and the first interface 402 and the housing 10 can be effectively improved.
  • the sealing member 20 extends in the circumferential direction of the opening 102 into a ring shape, and the material of the sealing member 20 can be divided into cyanide rubber, EPDM rubber, fluorine rubber, silicone, fluorosilicone rubber, nylon, polyurethane, Engineering plastics, etc. Those skilled in the art can select the material of the sealing member 20 according to actual needs, which is not limited in the embodiment of the present application.
  • the housing 10 may include: a cover plate 11 and a base 12 matched with the cover plate 11, and the cover plate 11 is connected with the base 12 to form a sealed accommodating cavity 101.
  • a sealing strip can also be arranged between the cover plate 11 and the base 12.
  • the housing 10 may also be provided with other external wiring interfaces (for example, a power interface, etc.).
  • the embodiment of the present application only takes the first interface 402 as an example for illustration, and other reference may be made for implementation.
  • the housing 10 is also provided with a vent, and a waterproof vent valve is provided on the vent, so that the gas in the accommodating chamber 101 can circulate, and the case is prevented from being deformed due to the expansion of overheated gas in the accommodating chamber 101. condition.
  • a heat sink 111 may also be provided on the housing 10 to increase the heat dissipation area of the housing 10.
  • the number and arrangement of the heat sink 111 can be set according to actual heat dissipation requirements, which is not specifically limited in the embodiment of the present application.
  • the flexible body 401 is a coaxial cable or a flexible circuit board (flat cable).
  • the first interface 402 is used for docking with a sensor module (for example, a vehicle radio frequency antenna module), and is electrically connected to the first circuit board 30 through a coaxial line or a flexible circuit board, so as to pass the signal received by the sensor module through the same
  • a sensor module for example, a vehicle radio frequency antenna module
  • the axis or flexible circuit board is transmitted to the processor on the first circuit board 30, and the processor then makes judgments and processing based on the above-mentioned signals.
  • the flexible body 401 can be selected as a coaxial line or a flexible circuit according to the space in the accommodating cavity 101 Board to match the internal layout requirements of different controllers.
  • the flexible body 401 can be selected according to actual needs, and the embodiment of the present application does not limit it here.
  • the connection between the flexible circuit board and the first circuit board 30 can be connected through a board-to-board connector, so that the flexible circuit board is connected to the first circuit board.
  • the detachability between 30 is better and the cost is lower.
  • the flexible body 401 can be bent, and the bending direction of the flexible body 401 matches the shape of the housing 10.
  • FIG. 3 one of the schematic diagrams of the adapter 40 in the embodiment of the present disclosure is shown.
  • Fig. 4 a schematic diagram of the installation of the adapter shown in Fig. 3 on the housing is shown.
  • FIG. 5 an enlarged schematic diagram of position A in FIG. 4 is shown.
  • FIG. 6 a schematic cross-sectional view of the controller shown in FIG. 1 is shown.
  • FIG. 7 an enlarged schematic diagram of position B in FIG. 6 is shown.
  • the adapter 40 can be bent and arranged in the accommodating cavity 101 through the flexible body 401.
  • the flexible body 401 can be bent, not only can the position of the first interface 402 on the housing 10 be more flexible, but also the shape of the housing 10 can be matched by the bending direction of the flexible body 401. Therefore, the shape of the housing 10 can be a special-shaped structure, so as to make full use of the space volume in the accommodating cavity 101 and reduce the layout difficulty of the controller.
  • the flexible main body 401 is disposed close to the housing 10.
  • the flexible main body 401 can be arranged close to the housing 10, and the flexible main body 401 can be bent according to the shape of the housing 10 to prevent the flexible main body 401 from being in the containing cavity 101. Interference with other devices, etc., further reduce the difficulty of layout inside the controller.
  • the first interface 402 includes a terminal fitting 41 and a housing 42; one end of the terminal fitting 41 is exposed through the opening 102, and the other end is electrically connected to the flexible body 401; the housing 42 is wrapped around the terminal fitting 41.
  • the terminal fitting 41 is usually a conductive metal for external wiring or mating
  • the shell 42 can be an insulating shell 42 such as plastic.
  • the shell 42 is wrapped around the terminal fitting 41 to protect the terminal fitting 41. And to improve safety performance.
  • a hook 422 may also be provided on the housing 42 to facilitate the clamping with the connector of the external sensor module.
  • the first interface 402 is a fakra interface
  • one end of the terminal connector 41 is a fakra connector exposed through the opening 102, and the other end of the terminal connector 41 is electrically connected to the flexible main body 401.
  • a flange 421 is provided on the housing 42, and the sealing member 20 is provided between the flange 421 and the housing 10.
  • the sealing member 20 is sandwiched between the flange 421 and the housing 10, which can effectively improve the sealing effect of the sealing member 20. In application, it can reach IP6K7 waterproof level.
  • a groove 4211 is provided on the side of the flange 421 close to the casing 10, or a groove 4211 is provided on the side of the casing 10 close to the flange 421; the seal 20 is at least partially embedded in the groove Within 4211.
  • a groove 4211 (such as Fig. 6 or Fig. 7), by embedding the sealing element 20 at least partially in the groove 4211, the sealing reliability of the sealing element 20 is improved.
  • the sealing element 20 is usually made of a flexible and compressible material, for example, EPDM.
  • the sealing element 20 is elastically compressed by sandwiching the sealing element 20 between the housing 10 and the flange 421.
  • the waterproof and dustproof performance of the seal 20 is realized.
  • the embodiment of the present application only provides a schematic diagram of the groove 4211 being provided on the flange 421, and the groove 4211 provided on the housing 10 can be set by reference, and this is not repeated in the embodiment of the present application. .
  • connection modes between the first interface 402 and the housing 10 including but not limited to threaded connection, snap connection, and the like.
  • the housing 42 is provided with an external thread at one end of the accommodating cavity 101, and after the first interface 402 is installed at the opening 102, the housing 10 is clamped by the cooperation of the nut and the external thread. Between the flange 421 and the nut to achieve a fixed connection between the first interface 402 and the housing 10.
  • a self-locking washer can also be sandwiched between the nut and the housing 10, and the first interface can be lifted by the self-locking washer. 402 fixed reliability.
  • the adapter 40 may further include: a second interface 403, which is provided at the other end of the flexible body 401; the flexible body 401 is electrically connected to the first circuit board 30 through the second interface 403.
  • the flexible main body 401 is electrically connected to the first circuit board 30 through the second interface 403.
  • the connection reliability between the flexible main body 401 and the first circuit board 30 can be improved, and on the other hand, the flexible main body 401 can be electrically connected to the first circuit board 30.
  • the detachable connection between the second interface 403 and the first circuit board 30 improves the convenience of installation and maintenance between the adapter 40 and the first circuit board 30.
  • the first interface 402 and the second interface 403 are the same or different.
  • the first interface 402 may be a fakra interface
  • the second interface 403 may be a fakra interface or an SMB interface
  • the first interface 402 and the second interface 403 may be the same or different.
  • both the first interface 402 and the second interface 403 can be fakra interfaces, and both ends of the coaxial line are connected to a fakra interface respectively, so that the flexibility of the coaxial line can be used.
  • the bending performance can flexibly set the position of the first interface 402 on the housing 10 without being limited by the setting direction of the first circuit board 30.
  • the fakra interfaces can also be set to be the same or different.
  • the fakra interfaces can also be set to be the same or different.
  • the fakra interface provided by the first interface 402 needs to be a fakra interface with waterproof performance.
  • the second interface 403 is located in the accommodating cavity 101, when the second interface 403 is a fakra interface, the selection range of the fakra interface can be wider, and it can be a waterproof fakra interface or an ordinary non-waterproof fakra interface.
  • a fakra interface without waterproof performance (or a fakra interface currently used in batches) can be set, thereby effectively reducing the cost of the fakra interface, and thereby reducing the cost of the adapter 40 (controller).
  • the first interface 402 and the second interface 403 can also be set to the same fakra interface, which will not be repeated in this embodiment of the application.
  • the first circuit board 30 is also provided with an interface for docking with the fakra interface or the SMB interface, so as to realize the second interface 403 and the first interface.
  • the detachable connection between the circuit board 30 improves the maintenance convenience of the adapter 40 and the first circuit board 30.
  • the plugging direction of the first interface 402 is parallel to the horizontal plane where the first circuit board 30 is located.
  • the plugging and unplugging direction of the first interface 402 is "horizontal lateral" plugging and unplugging, which is parallel to the horizontal plane where the first circuit board 30 is located. Interference of the device can not only meet the requirements of horizontal plug-in wiring, but also avoid occupying vertical space. It is understandable that the plugging and unplugging direction of the first interface 402 can also be set to "vertical and longitudinal" plugging and unplugging, which can be set by those skilled in the art according to the actual situation. Limited by the arrangement direction of the first circuit board 30, the arrangement of the first interface 402 is more flexible.
  • controller of the embodiment of the present disclosure includes at least the following advantages:
  • the sealing element since the sealing element is disposed between the first interface and the housing, the sealing element can function as a waterproof seal, which can effectively improve the waterproof level of the controller.
  • the adapter includes a flexible main body, and a first interface provided at one end of the flexible main body, the first interface is exposed out of the housing through the opening, and the other end of the flexible main body is used for communication with The first circuit board is electrically connected. Therefore, in practical applications, by bending the flexible body, the position of the first interface on the housing can be adjusted according to actual needs, so as to meet the external requirements of the first interface. The change of the wiring plugging direction (regardless of the horizontal, vertical and inclined plugging and unplugging can be satisfied). In addition, the direction of the first interface does not affect the layout of the circuit board in the controller, which can also effectively reduce the layout difficulty of the electronic devices in the controller and improve the layout flexibility of the electronic devices in the controller.
  • FIG. 8 there is shown a schematic diagram of another controller according to an embodiment of the present disclosure.
  • Fig. 9 an exploded view of the controller shown in Fig. 8 is shown.
  • Fig. 10 a partial structural diagram of the controller shown in Fig. 8 is shown.
  • FIG. 11 an enlarged schematic diagram of position C in FIG. 10 is shown.
  • the adapter 40 may further include: a second circuit board 50; the second circuit board 50 is electrically connected to the first interface 402 and one end of the flexible body 401, respectively.
  • the first interface 402 is a fakra interface
  • the existing fakra interface is usually directly connected to the circuit board by soldering. Therefore, in the embodiment of the present application, the first interface 402 and the flexible body 401 are provided with the The second circuit board 50, the first interface 402 is welded and connected to the second circuit board 50, and then the second circuit board 50 is electrically connected to the first circuit board 30 through the flexible body 401, so that the fakra covered by the first interface 402
  • the range of interface models and types is wider, and the compatibility of the controller is stronger. For example, a fakra interface that meets the IP6K7 waterproof and dustproof performance that is currently used in batches can be used as the first interface 402, so that the cost of the fakra interface can be effectively reduced.
  • the second circuit board 50 may be a circuit board with only a switching function, or a circuit board with a certain data processing function. Those skilled in the art can set it according to the actual situation. Not limited.
  • the housing 10 and the first circuit board 30 can be the same as the housing 10 and the first circuit board 30 described in the first embodiment, or they can be adjusted according to the difference of the adapter 40 in the second embodiment.
  • the size of the opening 102 on the housing 10 needs to match that of the first interface 402, so as to improve the reliability of the controller for waterproof and dustproof; or, the second circuit board 50 has a first
  • the first circuit board 30 in the embodiment of the present application may be different from the first circuit board 30 in the first embodiment to reduce the board area of the first circuit board 30, thereby reducing the volume of the controller .
  • those skilled in the art can set it according to the actual situation, which will not be repeated in the embodiment of the present application.
  • one end of the terminal connector 41 is a fakra connector, which is exposed through the opening 102; the other end of the terminal connector 41 is an SMB connector or a fakra connector, and the SMB connector or fakra connector is electrically connected to one end of the flexible body 401.
  • one end of the terminal connector 41 in the first interface 402 is a fakra connector exposed through the opening 102, so that the external connector of the controller is a fakra connector, and the other end of the terminal connector 41 is a SMB connector or a fakra connector. , So that the first interface 402 has more types, wider range, and stronger compatibility.
  • the first interface can also be understood as a fakra connector at one end and an SMB connector at the other end.
  • the first interface is an integrated structure of fakra and SMB. In this way, the volume of the first interface is smaller.
  • FIG. 12 the second schematic diagram of the adaptor in the embodiment of the present disclosure is shown.
  • FIG. 13 there is shown the third schematic diagram of the adaptor in the embodiment of the present disclosure.
  • FIG. 14 there is shown the fourth schematic diagram of the adaptor in the embodiment of the present disclosure.
  • one end of the terminal connector 41 is a fakra connector, which is exposed outside the housing 10 through the opening 102, and the other end of the terminal connector 41 is an SMB connector, which is electrically connected to the second circuit board 50 ,
  • the second circuit board 50 is electrically connected to the first circuit board 30 through the flexible main body 401.
  • the SMB connector and the second circuit board 50 can be welded and connected, so that the first interface 402 and the second circuit board 50 are connected by welding.
  • the connection reliability is higher.
  • the terminal connector when one end of the terminal connector is a fakra connector and the other end is an SMB connector, the terminal connector can be an integrated structure, that is to say, the fakra connector and the SMB connector are an integrated structure, which can effectively reduce the first interface
  • the assembly process shortens the production cycle, reduces the production cost, and also reduces the volume of the first interface, thereby reducing the occupied space.
  • the other end of the terminal connector 41 in the embodiment of the present application can also be a fakra connector.
  • the adapter 40 of the embodiment of the present application can be implemented as An example is the adapter 40 shown in FIGS. 1 to 7.
  • At least one of the first circuit board 30 and the second circuit board 50 is detachably connected to the flexible main body 401; and/or, the first circuit board 30, the flexible main body 401, and the second circuit board 50 are integrated Molding structure; and/or, the first interface 402 is soldered to the second circuit board 50.
  • both the first circuit board 30 and the second circuit board 50 are detachably connected to the flexible main body 401 through butt-in terminals, so that the first circuit board 30, the second circuit board 50 and the adapter can be effectively lifted.
  • the maintenance convenience of the component 40 once one of them fails, the maintenance and replacement can be realized through the quick plugging and unplugging of the plug-in terminal.
  • the second circuit board 50 and the flexible main body 401 are an integral structure, and the flexible main body 401 and the first circuit board 30 are detachably connected through plug-in terminals, which not only improves the convenience of maintenance, but also effectively reduces The assembly process reduces assembly man-hours and assembly costs.
  • the first circuit board 30, the flexible main body 401, and the second circuit board 50 are integrally formed, which can effectively reduce the number of parts to be assembled and reduce the production cost.
  • the flexible main body 401 can be a rigid-flex board or a circuit board with a certain degree of bendability. Therefore, the flexibility of the plugging and unplugging directions of the external wiring of the first interface 402 can be realized through the bendability of the flexible main body 401.
  • connection examples of the first circuit board 30, the flexible main body 401, and the second circuit board 50 are given above. Those skilled in the art can also set other connection methods according to the situation. This will not be repeated one by one.
  • the flexible circuit board can also be a flexible rigid-flex board structure synthesized by two PCB substrates, and the first circuit board 30 and the second circuit board 50 are connected through the rigid-flex board structure, so as to realize the connection with the second circuit board.
  • the external plug-in direction of the first interface 402 connected to the second circuit board 50 is changed.
  • the first interface 402 is soldered to the second circuit board 50.
  • the reliability of the connection between the first interface 402 and the second circuit board 50 can be improved, and the first interface 402 and the second circuit board 50 can be improved.
  • the combined volume of the two circuit boards 50 is smaller and more compact.
  • the flexible body 401 may be a flexible circuit board (as shown in FIGS. 12-14) or a coaxial line.
  • the embodiment of the present application only provides one example, and the others can be implemented by reference.
  • connection between the first interface 402 and the housing 10 in the embodiment of the present application is a fixed connection with screws. In this way, the reliability of the connection between the first interface and the housing can be made higher. It is understandable that the first interface 402 and the housing 10 may also be fixedly connected by bonding or other means, which will not be repeated in the embodiment of the present application.
  • controller of the embodiment of the present disclosure includes at least the following advantages:
  • the sealing element since the sealing element is disposed between the first interface and the housing, the sealing element can function as a waterproof seal, which can effectively improve the waterproof level of the controller.
  • the adapter includes a flexible main body, and a first interface provided at one end of the flexible main body, the first interface is exposed out of the housing through the opening, and the other end of the flexible main body is used for communication with The first circuit board is electrically connected. Therefore, in practical applications, by bending the flexible body, the position of the first interface on the housing can be adjusted according to actual needs, so as to meet the external requirements of the first interface. The change of the wiring plugging direction (regardless of the horizontal, vertical and inclined plugging and unplugging can be satisfied). In addition, the direction of the first interface does not affect the layout of the circuit board in the controller, which can also effectively reduce the layout difficulty of the electronic devices in the controller and improve the layout flexibility of the electronic devices in the controller.
  • the embodiment of the present disclosure also provides a movable platform, and the movable platform may include: the above-mentioned controller.
  • the movable platform includes, but is not limited to, any one of drones, unmanned vehicles, robots, and mobile electronic devices.
  • the controller may be any one or more of an unmanned aerial vehicle controller, an unmanned vehicle controller, a robot controller, or a mobile electronic device controller.
  • the adaptor on the controller is provided with a flexible main body and a first interface connected to the flexible main body, as well as the flexible bendability of the flexible main body, so that the first interface in the controller can be adjusted according to actual needs.
  • the position on the housing of the first interface further satisfies the change of the plugging direction of the external wiring of the first interface (regardless of whether it is horizontal, vertical, or inclined plugging and unplugging).
  • the direction of the first interface does not affect the layout of the circuit board in the controller, which can also effectively reduce the layout difficulty of the electronic devices in the controller and improve the layout flexibility of the electronic devices in the controller.
  • the sealing element is arranged between the first interface and the housing, the sealing element can function as a waterproof seal, which can effectively improve the waterproof and dustproof level of the controller, thereby improving the waterproof and dustproof level of the movable platform.

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Abstract

本公开实施例提供了一种控制器及可移动平台，涉及电子设备技术领域，以解决现有的连接器防护性能不好，并且只能满足车载控制器对外接线的纵向插拔需求，无法满足对外接线的横向插拔需求的问题。所述控制器具体包括：壳体（10）、密封件（20）、第一电路板（30）和转接件（40）；壳体（10）形成容纳腔（101），且壳体（10）上设有与容纳腔（101）相连的开口（102）；第一电路板（30）设置于容纳腔（101）内；转接件（40）至少部分设于容纳腔（101），转接件（40）包括柔性主体，以及设置于柔性主体一端的第一接口，第一接口通过开口（101）露于壳体（10）外，柔性主体的另一端用于与第一电路板（30）电连接；密封件（20）设置于第一接口、壳体（10）之间。本公开实施例中，通过所述柔性主体的弯折，可以根据实际需求调整第一接口在所述壳体上的位置，进而满足第一接口对外接线插拔方向的变化，并且，还可以有效降低控制器内电子器件的布局难度，提高控制器内电子器件的布局灵活性。

Description

一种控制器及可移动平台
本申请要求在2020年06月19日提交中国专利局、申请号为202021161207.4、发明名称为“一种控制器及可移动平台”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及电子设备技术领域，特别是涉及一种控制器及可移动平台。
背景技术
随着科学技术的发展，自动驾驶技术的应用越来越广泛。例如，在车辆上，通过车载控制器分别连接各种传感器(例如，视觉传感器模块、超声波雷达模块等)，从而实现自动勘测路障、规划行车路线等功能。车载控制器与上述传感器之间传输的信号一般是数字信号或模拟信号通信，因此，车载控制器与各种传感器之间通常采用连接器连接，例如fakra连接器。现有的连接器防护性能不好，并且只能满足车载控制器对外接线的纵向插拔需求，无法满足对外接线的横向插拔需求。
概述
鉴于上述问题，提出了本公开实施例以便于提供一种克服上述问题或者至少部分地解决上述问题的一种控制器及可移动平台。
第一方面，本公开公开了一种控制器，其特征在于，所述控制器包括：壳体、密封件、第一电路板和转接件；
所述壳体形成容纳腔，且所述壳体上设有与所述容纳腔相连的开口；
所述第一电路板设置于所述容纳腔内；
所述转接件至少部分设于所述容纳腔，所述转接件包括柔性主体，以及设置于所述柔性主体一端的第一接口，所述第一接口用于与所述控制器的外部装置的电连接器插接，并且所述第一接口通过所述开口部分露于所述壳体外，所述柔性主体的另一端用于与所述第一电路板电连接；
所述密封件设置于所述第一接口与所述壳体的所述开口的周缘之间，以密封所述第一接口与所述开口的周缘之间的间隙。
第二方面，本公开实施例还公开了一种可移动平台，包括：上述控制器。
本申请实施例中，由于所述密封件设置于所述第一接口、所述壳体之间，密封件可以起到防水密封的作用，可以有效提升控制器的防水等级。又由于所述转接件包括柔性主体，以及设置于所述柔性主体一端的第一接口，所述第一接口通过所述开口露于所述壳体外，所述柔性主体的另一端用于与所述第一电路板电连接，因此，在实际应用中，通过所述柔性主体的弯折，可以根据实际需求调整第一接口在所述壳体上的位置，进而满足所述第一接口对外接线插拔方向的变化(无论横向、纵向以及倾斜插拔均可满足)。并且，所述第一接口的方向不会影响控制器内电路板的布局，这样还可以有效降低控制器内电子器件的布局难度，提高控制器内电子器件的布局灵活性。
上述说明仅是本公开技术方案的概述，为了能够更清楚了解本公开的技术手段，而可依照说明书的内容予以实施，并且为了让本公开的上述和其它目的、特征和优点能够更明显易懂，以下特举本公开的具体实施方式。
附图简述
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本公开实施例的一种控制器的示意图；
图2是图1所示控制器的爆炸图；
图3是本公开实施例中转接件的示意图之一；
图4是图3所示转接件在壳体的安装示意图；
图5是图4中A位置的放大示意图；
图6是图1所示控制器的截面示意图；
图7是图6中B位置的放大示意图；
图8是本公开实施例的另一种控制器的示意图；
图9是图8所示控制器的爆炸图；
图10是图8所示控制器的局部结构示意图；
图11是图10中C位置的放大示意图；
图12是本公开实施例中转接件的示意图之二；
图13是本公开实施例中转接件的示意图之三；
图14是本公开实施例中转接件的示意图之四。
附图标记说明：
10：壳体；20：密封件；30：第一电路板；40：转接件；101：容纳腔；102：开口；401：柔性主体；402：第一接口；11：盖板；12：底座；41：端子接头；42：外壳；421：法兰；422：卡钩；4211：凹槽；403：第二接口；50：第二电路板；111：散热片。
详细描述
为使本公开的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本公开作进一步详细的说明。显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
随着科学技术的发展，自动驾驶技术的应用越来越广泛。例如，在车辆上，通过车载控制器分别连接各种传感器(例如，视觉传感器模块、超声波雷达模块等)，从而实现自动勘测路障、规划行车路线等功能。车载控制器与上述传感器之间传输的信号一般是数字信号或模拟信号通信，因此，车载控制器与各种传感器之间通常采用连接器连接，例如fakra连接器。现有的连接器防护性能不好，并且只能满足车载控制器对外接线的纵向插拔需求，无法满足对外接线的横向插拔需求。
在实际应用中，例如，在车载控制器与各种传感器之间设置fakra连接器。通常将连接器直接焊接在所述车载控制器的电路板上。通过在电路板上焊接不同的fakra连接器(立式fakra连接器或卧式fakra连接器)，以满足不同的车载控制器对外接线方向的变化需求。然而，上述fakra连接器，一方面无法满足车载控制器IP6K7的防护需求，另一方面，由于fakra连接器直接焊接在电路板上导致车载控制器内电路板的布局受限，灵活性较低。
为了满足车载控制器IP6K7的防护等级，相关技术中还提供了一种 fakra法兰与SMB端头的一体化结构，fakra法兰与SMB端头电连接，SMB端头与车载控制器内的电路板焊接连接，通过在fakra法兰与壳体之间设置密封圈从而提升车载控制器的防护等级。然而，由于上述由fakra法兰与SMB端头的一体化结构只能在电路板上立式焊接，导致只能满足车载控制器对外接线的纵向插拔需求，无法满足对外接线的横向插拔需求。而且，由于SMB端头与车载控制器内的电路板焊接连接，也会导致车载控制器内的电路板布局受限，车载控制器的布局灵活性降低。
本公开提供了一种控制器，包括但不限于车载控制器、车载视觉传感控制器、车载射频天线控制器等。本申请实施例仅以车载控制器为例进行解释说明，其他参照执行即可。
实施例一
参照图1，示出了本公开实施例的一种控制器的示意图。参照图2，示出了图1所示控制器的爆炸图。如图1和图2所示，所述控制器具体可以包括：壳体10、密封件20、第一电路板30和转接件40；壳体10形成容纳腔101，且壳体10上设有与容纳腔101相连的开口102；第一电路板30设置于容纳腔101内；转接件40至少部分设于容纳腔101，转接件40包括柔性主体401，以及设置于柔性主体401一端的第一接口402，第一接口402通过开口102露于壳体10外。第一接口402用于与控制器的外部装置的电连接器插接。柔性主体401的另一端用于与第一电路板30电连接；密封件20设置于第一接口402、壳体10之间。密封件20设置于所述第一接口402与壳体10的开口102的周缘之间，以密封第一接口402与开口102的周缘之间的间隙。本申请实施例中，通过柔性主体401的弯折，可以根据实际需求调整第一接口402在壳体10上的位置以及对外接线的插拔方向，因此，本申请实施例的控制器的布局难度可以有效降低，控制器内电子器件的布局灵活性更高。
在实际应用中，随着电子设备智能化的发展，汽车、无人机等可移动平台的自动驾驶技术也越来越成熟。例如，在车载自动驾驶产品中，车载控制器需要连接多种类传感器模块进行通信，其中包括但不限于视觉传感器模块、车载射频天线模块、毫米波雷达模块、超声波雷达模块等。车载 控制器与上述这些传感器模块之间传输的信号一般是数字信号或者模拟信号，这就需要用到同轴线进行传递。在实际应用中，连接同轴线的接口一般称为同轴线接口，例如，在汽车领域普遍应用的fakra接口。随着汽车智能化的发展，fakra接口的安装应用环境也变得越来越严苛，部分应用场景下，例如，需要短时间涉水的情况下，就需要车载控制器具有IP6K7的防护等级。
本申请实施例中，第一接口402可以为连接同轴线的接口，包括但不限于fakra接口，本申请实施例仅以fakra接口为例进行解释说明，其他参照执行即可。
在实际应用中，第一电路板30用于对转接件40传输的外接传感模块的数据进行判断和处理，具体的，第一电路板30上还可以设置与其功能相匹配的各种接口电路以及电子器件，本申请实施例对此不再赘述。
本申请实施例中，通过在第一接口402和控制器的壳体10之间设置密封件20，从而可以避免水、尘等从开口102进入容纳腔101内，有效提升第一接口402与壳体10之间的防水防尘等级。
在实际应用中，密封件20沿开口102的周向延伸成环形，密封件20的材质可以为分为丁氰橡胶、三元乙丙橡胶、氟橡胶、硅胶、氟硅橡胶、尼龙、聚氨酯、工程塑料等。本领域技术人员可以根据实际需求选择密封件20的材质，本申请实施例对此不作限定。
如图2所示，壳体10可以包括：盖板11以及与盖板11相匹配的底座12，盖板11与底座12相连形成密封的容纳腔101。为了提升密封腔的防水防尘等级(例如，IP6K7的等级)，盖板11与底座12之间还可以设置密封条。可以理解的是，壳体10上还可以设有其他对外接线接口(例如，电源接口等)，本申请实施例仅以第一接口402为例进行举例说明，其他参照执行即可。
本申请实施例中，壳体10上还设有透气口，透气口上设有防水透气阀，从而使容纳腔101内气体实现流通，避免由于容纳腔101内过热气体膨胀造成壳体受力变形等情况。
在实际应用中，为了提升壳体10的散热能力，还可以在壳体10上设置 散热片111，以增加壳体10的散热面积。具体的，散热片111的数量以及排布可以根据实际散热需求设置，本申请实施例对此不作具体限定。
可选的，柔性主体401为同轴线或柔性电路板(排线)。
本申请实施例中，第一接口402用于与传感器模块(例如车载射频天线模块)对接，通过同轴线或柔性电路板与第一电路板30电连接，从而将传感器模块接收的信号通过同轴线或柔性电路板传递至第一电路板30上的处理器，处理器再根据上述信号做出判断和处理。
在实际应用中，由于同轴线通常为圆柱形截面的连接线，柔性电路板通常为扁平状连接线，因此，可以根据容纳腔101内的空间，选择柔性主体401为同轴线或柔性电路板，以匹配不同的控制器内部布局需求。本领域技术人员可以根据实际需求选择柔性主体401，本申请实施例在此不作限定。
本申请实施例中，柔性主体401为柔性电路板的情况下，柔性电路板与第一电路板30之间的连接可以通过板到板连接器进行连接，进而使得柔性电路板与第一电路板30之间的可拆卸性更好，且成本更低。
可选的，柔性主体401可弯折，柔性主体401的弯折方向与壳体10的形状相匹配。
参照图3，示出了本公开实施例中转接件40的示意图之一。参照图4，示出了图3所示转接件在壳体的安装示意图。参照图5，示出了图4中A位置的放大示意图。参照图6，示出了图1所示控制器的截面示意图。参照图7，示出了图6中B位置的放大示意图。如图3至图7，示出了柔性主体401为同轴线的情况下，转接件40通过柔性主体401可弯折设置于容纳腔101内的示意图。本申请实施例中，由于柔性主体401可弯折，这样不但可以使第一接口402在壳体10上的设置位置更加灵活，还可以通过柔性主体401的弯折方向与壳体10的形状相匹配，因此，壳体10的形状可以为异形结构，以便于充分利用容纳腔101内的空间体积，以及降低控制器的布局难度。
可选的，柔性主体401贴近壳体10设置。
在实际应用中，为了提升控制器内线路规范性，还可以设置柔性主体401贴近壳体10设置，并且使柔性主体401根据壳体10的形状进行弯折， 避免柔性主体401在容纳腔101内与其他器件产生干涉等情况，进一步降低控制器内部的布局难度。
可选的，第一接口402包括端子接头41以及外壳42；端子接头41的一端通过开口102外露，另一端与柔性主体401电连接；外壳42包覆于端子接头41外。
本申请实施例中，端子接头41通常为对外接线或对插的导电金属，外壳42可以为塑胶等绝缘外壳42，通过外壳42包覆于端子接头41外，从而起到对端子接头41的保护以及提升安全性能。
在实际应用中，为了便于第一接口402对外接线更为便利快捷，还可以在外壳42上设置卡钩422，以便于与外部传感器模块的接头进行卡接。
本申请实施例中，第一接口402为fakra接口的情况下，端子接头41的一端为fakra接头通过开口102外露，端子接头41的另一端与柔性主体401电连接。
可选的，外壳42上设有法兰421，密封件20设置于法兰421与壳体10之间。
如图6或图7所示，通过在外壳42上设置法兰421，从而将密封件20夹设于法兰421与壳体10之间，这样可以有效提升密封件20的密封效果，在实际应用中，可以达到IP6K7的防水等级。
可选的，法兰421上靠近壳体10的侧面上设有凹槽4211，或，壳体10上靠近法兰421的侧面上设有凹槽4211；密封件20至少部分嵌设于凹槽4211内。
在实际应用中，为了便于密封件20的安装以及避免在安装过程中密封件20发生偏移导致密封失效的问题，还可以在法兰421上靠近壳体10的侧面上设置凹槽4211(如图6或图7)，通过将密封件20至少部分嵌设于凹槽4211内，从而提升密封件20的密封可靠性。
在实际应用中，密封件20通常为柔性可压缩材质，例如，三元乙丙橡胶，通过使将密封件20夹设于壳体10与法兰421之间，对密封件20进行弹性压缩从而实现密封件20的防水防尘性能。
可以理解的是，本申请实施例仅给出凹槽4211设置于法兰421上的示 意图，在壳体10上设置的凹槽4211的情况参照设置即可，本申请实施例对此不再赘述。
本申请实施例中，第一接口402与壳体10之间的连接方式有多种，包括但不限于螺纹连接、卡接等。如图3至图7所示，通过在外壳42上位于容纳腔101的一端设置外螺纹，将第一接口402安装在开口102处后，通过螺母与外螺纹的配合从而将壳体10夹设于法兰421与螺母之间，以实现第一接口402与壳体10的固定连接。在实际应用中，为了避免螺母在控制器的转运过程中或使用过程中震动松脱，还可以在螺母与壳体10之间夹设自锁垫片，通过自锁垫片可以提升第一接口402固定的可靠性。
可选的，转接件40还可以包括：第二接口403，第二接口403设置于柔性主体401的另一端；柔性主体401通过第二接口403与第一电路板30电连接。
在实际应用中，柔性主体401通过第二接口403与第一电路板30电连接，一方面可以提升柔性主体401与第一电路板30之间连接的连接可靠性，另一方面还可以通过第二接口403与第一电路板30之间的可拆卸连接，提升转接件40与第一电路板30之间的安装和维护的便利性。
可选的，第一接口402与第二接口403相同或不同。
本申请实施例中，第一接口402可以为fakra接口，第二接口403可以为fakra接口或SMB接口，第一接口402与第二接口403可以相同或不同。例如，为了满足对外不同的接线需求，可以设置第一接口402为fakra接口，第二接口403为SMB接口，或者，设置第一接口402和第二接口403同为fakra接口，以减少零件种类，降低装配难度。
在实际应用中，当柔性主体401为同轴线时，第一接口402和第二接口403均可以为fakra接口，同轴线两端分别连接一个fakra接口，从而可以通过同轴线的柔性可弯折性能，灵活设置第一接口402在壳体10上的位置，而不会受限于第一电路板30的设置方向。
可以理解的是，当第一接口402和第二接口403均为fakra接口时，fakra接口也可以设置为相同或不同。例如，第一接口402和第二接口403均为fakra接口时，由于第一接口402通过开口102露于壳体10外，因此第 一接口402设置的fakra接口需为具有防水性能的fakra接口，由于第二接口403位于容纳腔101内，因此，第二接口403为fakra接口时，对fakra接口的选择范围可以更广，可以为防水fakra接口或普通不防水fakra接口。例如，可以设置没有防水性能的fakra接口(或者说当前批量应用的fakra接口)，从而有效降低fakra接口的成本，进而降低转接件40(控制器)的成本。当然，为了减少fakra接口的型号，以及避免在装配过程中装反，也可以设置第一接口402和第二接口403为相同的fakra接口，本申请实施例对此不再赘述。
可以理解的是，在第二接口403为fakra接口或SMB接口的情况下，第一电路板30上相应的也设置有与fakra接口或SMB接口对接的接口，从而实现第二接口403与第一电路板30之间的可拆卸连接，提高转接件40与第一电路板30的维护便利性。
可选的，第一接口402的插拔方向与第一电路板30所在的水平面平行。
如图6或图7所示，第一接口402的插拔方向为“水平横向”插拔，与第一电路板30所在的水平面平行，这样，第一接口402就不会与电路板上电子器件发生干涉，既可以满足横向插拔接线需求，又避免占用纵向空间。可以理解的是，第一接口402的插拔方向也可以设置为“竖直纵向”插拔，本领域技术人员可以根据实际情况设置，本申请实施例中第一接口402的插拔方向不再受限于第一电路板30的设置方向，第一接口402的设置更为灵活。
综上，本公开实施例的控制器至少包括以下优点：
本申请实施例中，由于所述密封件设置于所述第一接口、所述壳体之间，密封件可以起到防水密封的作用，可以有效提升控制器的防水等级。又由于所述转接件包括柔性主体，以及设置于所述柔性主体一端的第一接口，所述第一接口通过所述开口露于所述壳体外，所述柔性主体的另一端用于与所述第一电路板电连接，因此，在实际应用中，通过所述柔性主体的弯折，可以根据实际需求调整第一接口在所述壳体上的位置，进而满足所述第一接口对外接线插拔方向的变化(无论横向、纵向以及倾斜插拔均可 满足)。并且，所述第一接口的方向不会影响控制器内电路板的布局，这样还可以有效降低控制器内电子器件的布局难度，提高控制器内电子器件的布局灵活性。
实施例二
本申请实施例仅针对与实施例一中不同的结构及原理进行详细阐述，其它可参照实施例一执行即可，本申请实施例中不再赘述。
参照图8，示出了本公开实施例的另一种控制器的示意图。参照图9，示出了图8所示控制器的爆炸图。参照图10，示出了图8所示控制器的局部结构示意图。参照图11，示出了图10中C位置的放大示意图。
本申请实施例中，转接件40还可以包括：第二电路板50；第二电路板50分别与第一接口402、柔性主体401一端电连接。
在实际应用中，第一接口402为fakra接口的情况下，现有fakra接口通常是直接焊接连接至电路板上，因此，本申请实施例中通过在第一接口402和柔性主体401中设置第二电路板50，将第一接口402焊接连接至第二电路板50上，再通过柔性主体401将第二电路板50与第一电路板30电连接，从而使第一接口402所涵盖的fakra接口的型号以及种类范围更广，控制器的兼容性更强。例如，可以使用目前批量应用的满足IP6K7防水防尘性能的fakra接口作为第一接口402，这样就可以有效降低fakra接口的成本。
本申请实施例中，第二电路板50可以为仅具有转接功能的电路板，也可以为具有一定数据处理功能的电路板，本领域技术人员可以根据实际情况设置，本申请实施例对此不作限定。
在实际应用中，壳体10、第一电路板30可以与实施例一中所述壳体10以及第一电路板30相同，也可以根据实施例二中转接件40的不同作出适应性调整。例如，第一接口402种类不同时，壳体10上开口102的大小需要与第一接口402相匹配，以便于提升控制器防水防尘的可靠性；或者，在第二电路板50具有第一数据处理功能的情况下，本申请实施例中第一电路板30可以与实施例一中的第一电路板30不同，以减小第一电路板30的板面积，进而减小控制器的体积。对此，本领域技术人员可以根据实际情况设定，本申请实施例对此不再赘述。
可选的，端子接头41的一端为fakra接头，fakra接头通过开口102外露；端子接头41的另一端为SMB接头或fakra接头，SMB接头或fakra接头与柔性主体401一端电连接。
本申请实施例中，通过设置第一接口402中的端子接头41一端为fakra接头通过开口102外露，从而使控制器对外接头为fakra接头，通过设置端子接头41的另一端为SMB接头或fakra接头，从而使第一接口402的种类更多，范围更广，兼容性更强。
在实际应用中，第一接口也可以理解为一端为fakra连接器，另一端为SMB连接器，第一接口为fakra和SMB的一体化结构，这样，第一接口的体积更小。
参照图12，示出了本公开实施例中转接件的示意图之二。参照图13，示出了本公开实施例中转接件的示意图之三。参照图14，示出了本公开实施例中转接件的示意图之四。如图12至图14所示，端子接头41的一端为fakra接头，fakra接头通过开口102露于壳体10外，端子接头41的另一端为SMB接头，SMB接头与第二电路板50电连接，第二电路板50再通过柔性主体401与第一电路板30电连接。在实际应用中，通过将第一接口402中端子接头41的另一端设置为SMB接头，从而可以实现SMB接头与第二电路板50的焊接连接，使第一接口402与第二电路板50的连接可靠性更高。
在实际应用中，端子接头一端为fakra接头，另一端为SMB接头的情况下，端子接头可以为一体化结构，也就是说fakra接头与SMB接头为一体化结构，这样可以有效减少第一接口的组装工序，缩短制作周期、减少生产成本，并且还减小了第一接口的体积，进而减小占用空间。
可以理解的是，本申请实施例中端子接头41的另一端也可以为fakra接头，在fakra接头直接与同轴线内电缆连接的情况下，本申请实施例的转接件40可以是如实施例一图1至图7中所示的转接件40。
可选的，第一电路板30、第二电路板50二者中的至少一个与柔性主体401可拆卸连接；和/或，第一电路板30、柔性主体401以及第二电路板50为一体成型结构；和/或，第一接口402焊接于第二电路板50上。
如图12所示，第一电路板30、第二电路板50二者均与柔性主体401通过对插端子可拆卸连接，这样可以有效提升第一电路板30、第二电路板50以及转接件40的维护便利性，一旦其中一者出现故障，即可通过对插端子的快速插拔实现维护更换。
如图13所示，第二电路板50与柔性主体401为一体式结构，柔性主体401与第一电路板30通过对插端子实现可拆卸连接，从而不但可以提升维护便利性，还能有效减少装配工序，减少装配工时和装配成本。
如图14所示，第一电路板30、柔性主体401以及第二电路板50为一体成型结构，这样可以有效减少零件装配数量，降低生产成本。在实际应用中，当第一电路板30、柔性主体401以及第二电路板50为一体成型结构的情况下，柔性主体401可以为软硬结合板或者说是具有一定可弯折性能的电路板，从而可以通过柔性主体401的可弯折，实现第一接口402对外接线插拔方向的灵活性。
可以理解的是，以上仅给出了第一电路板30、柔性主体401以及第二电路板50的几种不同连接示例，本领域技术人员还可以根据情况设置其他连接方式，本申请实施例在此不再一一赘述。
在实际应用中，柔性电路板还可以为通过两块PCB基板合成的具有柔性的软硬结合板结构，通过软硬结合板结构连接第一电路板30、第二电路板50，从而实现与第二电路板50连接的第一接口402的对外插拔方向的变化。
如图12-图14所示，第一接口402焊接于第二电路板50上，这样，可以提升第一接口402与第二电路板50的连接可靠性，且可以使第一接口402和第二电路板50组合后的体积更小，更紧凑。
本申请实施例中，柔性主体401可以为柔性电路板(如图12-图14所示)，也可以为同轴线，本申请实施例仅给出其中一种示例，其他可参照执行。
如图12-图14所示，本申请实施例中第一接口402与壳体10的连接为通过螺钉固定连接，这样，可以使第一接口与壳体之间的连接可靠性更高。可以理解的是，第一接口402与壳体10之间还可以通过粘接等方式固 定连接，本申请实施例对此不再赘述。
综上，本公开实施例的控制器至少包括以下优点：
本公开实施例中，由于所述密封件设置于所述第一接口、所述壳体之间，密封件可以起到防水密封的作用，可以有效提升控制器的防水等级。又由于所述转接件包括柔性主体，以及设置于所述柔性主体一端的第一接口，所述第一接口通过所述开口露于所述壳体外，所述柔性主体的另一端用于与所述第一电路板电连接，因此，在实际应用中，通过所述柔性主体的弯折，可以根据实际需求调整第一接口在所述壳体上的位置，进而满足所述第一接口对外接线插拔方向的变化(无论横向、纵向以及倾斜插拔均可满足)。并且，所述第一接口的方向不会影响控制器内电路板的布局，这样还可以有效降低控制器内电子器件的布局难度，提高控制器内电子器件的布局灵活性。
本公开实施例还提供了一种可移动平台，所述可移动平台可以包括：上述的控制器。
本申请实施例中，可移动平台包括但不限于：无人机、无人车、机器人、移动电子设备等中的任意一种。具体的，控制器可以为无人机控制器、无人车控制器、机器人控制器或移动电子设备控制器中任一种或多种。
本申请实施例中，通过控制器上的转接件上设置柔性主体以及与柔性主体相连的第一接口，以及柔性主体的柔性可弯折性能，从而可以根据实际需求调整第一接口在控制器的壳体上的位置，进而满足所述第一接口对外接线插拔方向的变化(无论横向、纵向以及倾斜插拔均可满足)。并且，所述第一接口的方向不会影响控制器内电路板的布局，这样还可以有效降低控制器内电子器件的布局难度，提高控制器内电子器件的布局灵活性。由于控制器的对外接线插拔方向更为灵活，因此，控制器在可移动平台上位置的设置也更为灵活，有效降低了可移动平台的布局难度。而且，由于密封件设置于第一接口、壳体之间，密封件可以起到防水密封的作用，可以有效提升控制器的防水防尘等级，进而提升了可移动平台的防水防尘等级。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。
以上对本公开所提供的一种控制器以及可移动平台，进行了详细介绍，本文中应用了具体个例对本公开的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本公开的方法及其核心思想；同时，对于本领域的一般技术人员，依据本公开的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本公开的限制。

Claims (15)

  1. 一种控制器，其特征在于，所述控制器包括：壳体、密封件、第一电路板和转接件；
    所述壳体形成容纳腔，且所述壳体上设有与所述容纳腔相连的开口；
    所述第一电路板设置于所述容纳腔内；
    所述转接件至少部分设于所述容纳腔，所述转接件包括柔性主体，以及设置于所述柔性主体一端的第一接口，所述第一接口用于与所述控制器的外部装置的电连接器插接，并且所述第一接口通过所述开口部分露于所述壳体外，所述柔性主体的另一端用于与所述第一电路板电连接；
    所述密封件设置于所述第一接口与所述壳体的所述开口的周缘之间，以密封所述第一接口与所述开口的周缘之间的间隙。
  2. 根据权利要求1所述的控制器，其特征在于，所述第一接口包括端子接头以及外壳；
    所述端子接头的一端通过所述开口外露，另一端与所述柔性主体电连接；
    所述外壳包覆于所述端子接头外。
  3. 根据权利要求2所述的控制器，其特征在于，所述外壳上设有法兰，所述密封件设置于所述法兰与所述壳体之间。
  4. 根据权利要求3所述的控制器，其特征在于，所述法兰上靠近所述壳体的侧面上设有凹槽，或，所述壳体上靠近所述法兰的侧面上设有凹槽；
    所述密封件至少部分嵌设于所述凹槽内。
  5. 根据权利要求1所述的控制器，其特征在于，所述转接件还包括：第二接口，所述第二接口设置于所述柔性主体的另一端；
    所述柔性主体通过所述第二接口与所述第一电路板电连接。
  6. 根据权利要求5所述的控制器，其特征在于，所述第一接口与所述第二接口相同或不同。
  7. 根据权利要求1所述的控制器，其特征在于，所述转接件还包括：第二电路板；
    所述第二电路板分别与所述第一接口、所述柔性主体一端电连接。
  8. 根据权利要求7所述的控制器，其特征在于，所述第一电路板、所述第二电路板二者中的至少一个与所述柔性主体可拆卸连接；和/或，
    所述第一电路板、所述柔性主体以及所述第二电路板为一体成型结构；和/或，
    所述第一接口焊接于所述第二电路板上。
  9. 根据权利要求1所述的控制器，其特征在于，所述柔性主体包括：同轴线或柔性电路板。
  10. 根据权利要求1所述的控制器，其特征在于，所述柔性主体可弯折，所述柔性主体的弯折方向与所述壳体的形状相匹配。
  11. 根据权利要求1所述的控制器，其特征在于，所述柔性主体贴近所述壳体设置。
  12. 根据权利要求2所述的控制器，其特征在于，所述端子接头的一端为fakra接头，所述fakra接头通过所述开口外露；
    所述端子接头的另一端为SMB接头或所述fakra接头，所述SMB接头或所述fakra接头与所述柔性主体一端电连接。
  13. 根据权利要求1所述的控制器，其特征在于，所述第一接口的插拔方向与所述第一电路板所在的水平面平行。
  14. 一种可移动平台，其特征在于，所述可移动平台包括：权利要求1-13任一项所述的控制器。
  15. 根据权利要求14所述的可移动平台，其特征在于，所述可移动平台包括：无人机、无人车、机器人、自动驾驶车辆中的任一种。
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