Universal chassis control system

Abstract

The invention provides a universal chassis control system, which is characterized in that an upper computer module is provided with a user interface, and a user selects a target chassis type and sets motion parameters through the user interface; the communication module realizes communication between the upper computer module and the lower computer module, and sends the chassis type and the motion parameters selected by the user to the lower computer module; kinematic models of various chassis types are embedded in the lower computer module, corresponding kinematic models are automatically selected according to the chassis types transmitted by the upper computer module, and control signals are generated according to the motion parameters to drive the chassis to move. The system is suitable for various types of mobile platforms, provides a control interface easy to use and strong function expansibility, and is suitable for industrial automation, service robots and other mobile platform fields needing high flexibility and reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control systems, and in particular to a universal chassis control system. Background Art

[0002] In the past few decades, with the rapid development of automation technology and intelligent manufacturing, mobile platforms have become indispensable in many industries. They are widely used in logistics and transportation, automated production lines, environmental monitoring, public safety, home services and other fields to perform various complex tasks. These mobile platforms rely on chassis control systems to complete precise navigation, positioning and task execution. However, existing technologies have shown obvious limitations when faced with the diversity of application environments and the complexity of task requirements.

[0003] Currently, most chassis control solutions are designed for specific application scenarios or chassis types. For example, differential drive chassis are mainly used to perform straight-line and simple curved motion, while omnidirectional wheel chassis are more suitable for tasks that require high flexibility and complex spatial operations. This differentiation has led to manufacturers and users having to develop and maintain multiple control systems for different operating environments and mission requirements. This practice not only increases development and production costs, but also increases the complexity and cost of system upgrades, maintenance, and replacements.

[0004] As technology advances and market demand continues to grow, traditional chassis control solutions are increasingly unable to quickly adapt to new technical standards and market changes. Emerging sensor technologies, communication protocols, and various safety and environmental challenges require chassis control systems to have higher compatibility, flexibility, and adaptability. Current solutions often perform poorly in these areas, especially when dealing with unknown obstacles, changing terrain conditions, or other unexpected events.

[0005] In addition, the rapid development of the global economy and urbanization has led to the expansion of mobile platforms from industry and logistics to more areas such as urban management and personal services. These new application scenarios have brought more complex environmental characteristics and higher safety standards, requiring mobile platforms to operate safely and reliably in complex and changing environments.

[0006] In view of these challenges and demands, existing chassis control solutions appear to be inadequate and unable to meet the wide range of needs of modern mobile platforms in different environments and application scenarios. Existing systems are usually designed for specific chassis types and lack the flexibility to adapt to different chassis and application scenarios, resulting in high development and maintenance costs, as well as unstable performance in complex environments. Therefore, there is an urgent need to develop a new type of chassis universal control system that can span different chassis types and application scenarios and provide efficient automatic configuration and adaptability to meet the ever-changing market demands and technical challenges. Summary of the invention

[0007] In view of the defects in the prior art, an object of the present invention is to provide a universal chassis control system.

[0008] To achieve the above-mentioned purpose, the chassis universal control system provided by the present invention includes a host computer module, a communication module and a slave computer module;

[0009] The host computer module has a user interface, through which the user selects the target chassis type and sets the motion parameters;

[0010] The communication module realizes the communication between the upper computer module and the lower computer module, and sends the chassis type selected by the user and the motion parameters set to the lower computer module;

[0011] The lower computer module has built-in kinematic models of various chassis types, automatically selects the corresponding kinematic model according to the chassis type transmitted by the upper computer module, and generates a control signal according to the motion parameters to drive the chassis to move.

[0012] Preferably, the kinematic model of the lower computer module includes one or more of a differential drive model, an Ackerman steering model, a four-wheel Mecanum wheel model, an omnidirectional wheel model and a three-wheel omnidirectional model.

[0013] Preferably, the motion parameters obtained by the host computer include one or more of linear velocity, angular velocity and steering angle.

[0014] Preferably, the communication module performs two-way communication between the upper computer and the lower computer through the MQTT protocol.

[0015] Preferably, the slave computer module includes:

[0016] Kinematic model management unit: embeds and centrally manages multiple kinematic models, and automatically selects the corresponding kinematic model according to the chassis type instruction transmitted by the host computer module;

[0017] Control signal generating unit: generates corresponding control signals according to the selected kinematic model and the input motion parameters to drive the chassis to achieve corresponding motion.

[0018] Preferably, the lower computer module further includes a fault diagnosis unit; the fault diagnosis unit is used to monitor the operating status of the chassis during system operation, and if an abnormality is detected, a fault report is generated and sent to the upper computer module.

[0019] Preferably, the lower computer module further includes a storage unit; the storage unit is used to store the motion parameters and the parameters of the kinematic model set by the user.

[0020] Preferably, the lower computer module further includes an automatic calibration unit; the automatic calibration unit is used to automatically calibrate the selected kinematic model after the chassis type is switched to ensure that the chassis moves in different environments;

[0021] The automatic calibration unit comprises:

[0022] Parameter confirmation subunit: reads the preset basic parameters according to the chassis type after switching;

[0023] A preliminary test driving subunit drives the chassis to execute a set of motion test instructions;

[0024] The sensor feedback comparison subunit measures and provides feedback on the actual motion results of the chassis executing the test instruction;

[0025] Error analysis subunit: calculates the error between the test instruction and the actual motion result;

[0026] A parameter adjustment subunit: automatically adjusting the parameters of the switched kinematic model according to the error;

[0027] Repeat test and convergence subunit: issue test instructions again, measure actual motion results, if the error is reduced to within the expected range, the calibration is completed; otherwise, correct the parameters of the kinematic model again, and repeat the process until the error meets the requirements;

[0028] Storage and application submodule subunit: stores the final corrected motion model parameters in the storage unit of the lower computer module as the default parameters for the subsequent chassis type.

[0029] Preferably, the system further comprises a remote monitoring unit; the remote monitoring unit is connected to the host computer module via a remote interface, monitors the status of the chassis, and adjusts motion parameters according to real-time conditions to achieve remote control and management.

[0030] Preferably, the remote monitoring unit supports multi-user access and provides historical data recording and analysis functions.

[0031] Compared with the prior art, the chassis universal control system of the present invention has at least the following beneficial effects:

[0032] The universal chassis control system in the embodiment of the present invention realizes rapid adaptation and centralized control of various chassis types, reduces development and maintenance costs, and improves the stability and reliability of the system.

[0033] The universal chassis control system in the embodiment of the present invention is applicable to various types of mobile platforms and has a highly modular design and flexible adaptability. It is suitable for industrial automation, service robots and other mobile platform fields that require high flexibility and reliability.

[0034] The universal chassis control system in the embodiment of the present invention significantly improves the adaptability of the mobile platform, reduces the maintenance cost of the system, and improves the convenience of user operation.

[0035] The universal chassis control system in the embodiment of the present invention avoids repeated development for each chassis type through modular design and centralized management of multiple kinematic models, thereby greatly reducing the complexity of development and maintenance.

[0036] The universal chassis control system in the embodiment of the present invention has an efficient data transmission mechanism, ensures the real-time and reliability of instructions through the MQTT protocol, and adapts to complex and changeable working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0038] Figure 1 It is a schematic diagram of the structure of a universal chassis control system in one embodiment of the present invention;

[0039] Figure 2 It is a schematic diagram of the framework structure of the universal chassis control system in one embodiment of the present invention. DETAILED DESCRIPTION

[0040] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0041] Reference Figure 1 As shown, in one embodiment of the present invention, a universal chassis control system is provided, including: an upper computer module, a communication module and a lower computer module, the upper computer module has a user interface, the user selects the target chassis type and sets the motion parameters through the user interface; the communication module realizes the communication between the upper computer module and the lower computer module, and sends the chassis type selected by the user and the set motion parameters to the lower computer module; the lower computer module has built-in kinematic models of multiple chassis types, automatically selects the corresponding kinematic model according to the chassis type transmitted by the upper computer module, and generates a control signal according to the motion parameters to drive the chassis movement.

[0042] In the above embodiment, the host computer module enables the user to quickly select the desired chassis type through a simple and intuitive interactive method, thereby simplifying the system usage process. The communication module ensures efficient and stable data transmission and realizes seamless connection between the host computer and the slave computer. The slave computer module realizes centralized management and control of multiple kinematic models through a unified program, thus avoiding repeated development of each chassis type.

[0043] Reference Figure 2 As shown, in some embodiments, the user interface of the host computer module adopts a mobile phone APP, and interacts with the user through the APP; the APP communicates data with the host computer module through WiFi or Bluetooth. The mobile phone APP serves as the main interface for the user to interact with the entire system, providing a graphical user interface (GUI) to make the operation simple and intuitive. The user can select the target chassis type and configure various motion parameters such as linear velocity, angular velocity and acceleration through the APP, providing a convenient interactive experience and achieving precise control of the chassis. The main function of the mobile phone APP is to enable users to easily set the chassis motion requirements without the need for complex professional knowledge, which reduces the operating threshold of the system. The host computer module adopts the design of the user interface, so that users can easily manage and monitor the entire chassis universal control system.

[0044] The host computer module is one of the control centers of the entire system. It is responsible for obtaining user input (including target chassis type and motion parameters) from the mobile phone APP and processing these inputs through the host computer computing platform, such as correcting data correctness. The host computer module communicates with the lower computer module via WiFi or Bluetooth and transmits the processed motion parameters to the lower computer module. The host computer module ensures the accuracy and integrity of the data, and can also perform rationality checks on the user's input to ensure that unnecessary control errors do not occur.

[0045] In order to make the movement of the chassis more in line with user needs, in some embodiments of the present invention, a plurality of kinematic models are integrated through the lower computer module, including but not limited to: differential drive model, Ackerman steering model, four-wheel Mecanum wheel model, omnidirectional wheel model and three-wheel omnidirectional model. The user selects the required chassis type through the upper computer module. The lower computer module adapts the kinematic model according to the chassis type information of the upper computer module.

[0046] The kinematic model of each chassis type represents the motion characteristics of a chassis. For example, the differential drive model is suitable for general linear and simple curve motion, the Ackerman steering model is more suitable for tasks that require high-precision steering, and the omnidirectional wheel model and the four-wheel Mecanum wheel model are good at flexible omnidirectional movement. These kinematic models are integrated into the lower computer computing platform in a modular way, so that when the system encounters different types of chassis, it only needs to select the corresponding model without rewriting the control program. This greatly improves the flexibility and scalability of the system and reduces the time and cost of repeated development and maintenance.

[0047] Under different operating environments, the stability of data transmission is crucial. In the field of robot or mobile platform control, TCP / UDP, serial communication or the communication mechanism of ROS framework are usually used. Although the MQTT protocol is more common in the field of Internet of Things, it is not the first choice for chassis general control system for the following reasons: First, to make the MQTT protocol compatible with complex robot lower machine control, it is necessary to consider the real-time, scalability and security of the kinematic model, such as: timely acquisition of chassis feedback, avoidance of control instability caused by delays, etc. Second, although the MQTT protocol has a publish / subscribe mode and QoS level, since the chassis control needs to meet strong real-time and strong security, the MQTT protocol still needs to be optimized and adapted to achieve true high real-time and high reliability. In a preferred embodiment of the present invention, the communication module adopts the MQTT protocol, and the MQTT protocol is integrated and improved to ensure the stability and real-time of data transmission of the system in a complex environment. Specifically: Under the premise of supporting multiple chassis types, in order to achieve real-time, two-way, multi-node data interaction, adaptive designs such as message topic division (Topic planning), QoS level configuration, protocol stack optimization, data format standardization, and automatic calibration information transmission mechanism are carried out for the linear speed, angular velocity, wheel speed command, fault diagnosis information and other motion parameters of each chassis. These adaptive designs enable the system to continuously, stably, and with low latency distribute, collect, and respond to the commands and feedback of the mobile chassis in complex network environments, such as multiple devices in parallel, across regions, and in situations where packet loss or network delay is high, thereby ensuring parallel seamless switching and fault diagnosis between chassis, and solving many implementation problems caused by the changeable network, diverse chassis types, and complex data flows.

[0048] In the above embodiment, in such a system that can automatically switch multiple chassis models, lightweight MQTT is used as the communication backbone. Through sophisticated message specifications and parameter optimization schemes, real-time command issuance and feedback collection for different chassis can be completed under the same protocol. In complex application scenarios, the characteristics of MQTT such as message confirmation, disconnection reconnection, and message retention are optimized in a targeted manner, so that when the chassis is automatically calibrated or in a fault state, information can be reported accurately and quickly and remote intervention can be performed, which is crucial to ensure the robustness and safety of the system. In the context of strong real-time control of the robot chassis, MQTT is adaptively designed with message topic division (Topic planning), QoS level configuration, protocol stack optimization, data format standardization, and automatic calibration information transmission mechanism. Combined with the control requirements of multiple chassis, an efficient communication method is realized that is targetedly integrated and improved in scenarios such as real-time control, automatic calibration, and fault diagnosis, with high system integration and practical value.

[0049] In some specific embodiments, the communication module not only supports the transmission of motion parameters and chassis instructions from the upper computer to the lower computer, but also supports the lower computer to feedback the operating status and fault information of the chassis, ensuring that the system can achieve closed-loop control and effective operation monitoring.

[0050] In many existing mobile robots or chassis control systems, only "one-way" or "limited two-way" data transmission is generally achieved. For example, common serial ports, CAN, etc. only send the instructions of the host computer to the chassis, and the lower computer may only feedback simple motor speed or position data; if other detailed information is to be obtained, additional communication modules or external sensor systems are often required. The above embodiment realizes the "host computer-lower computer" two-way communication, which can not only transmit motion parameters and chassis instructions, but also obtain various data such as chassis operation status, fault diagnosis information, calibration status, etc. in real time. After these information are linked with the host computer, closed-loop control can be achieved, such as automatically fine-tuning motion parameters according to real-time feedback. Online monitoring and dynamic switching of different chassis types can also be performed. Therefore, the MQTT communication module in the embodiment of the present invention improves the real-time and schedulability of the system, reduces the dependence on manual troubleshooting or auxiliary systems, and realizes the unified closed-loop control of multiple chassis of "instruction-execution-feedback".

[0051] In addition, traditional communications may adopt a simple command-response mode, with mixed data content and lack of unified Topic division or QoS strategy, which cannot cope well with high-concurrency scenarios of multiple chassis and multiple sensors communicating simultaneously. In the above embodiment, information acquisition is themed / layered based on the MQTT protocol: different chassis types, different fault types, and different calibration stages correspond to different Topics; and appropriate QoS levels, data parsing formats, and retransmission / keep-alive strategies are adopted. The lower computer can publish various status and fault messages to the upper computer based on event triggering or periodic reporting mechanisms. Therefore, the above embodiment can still maintain high efficiency, low latency and hierarchical management of data transmission in a multi-device parallel and heterogeneous environment, greatly improving the accuracy of data acquisition and the fault tolerance of the system.

[0052] The chassis universal control system of the above embodiment, through modular design and centralized management of multiple kinematic models, realizes rapid adaptation to different chassis types, significantly improving the adaptability of the mobile platform and the convenience of user operation. Through this unified control system, it is compatible with various types of mobile platforms, such as industrial automated guided vehicles (AGVs), service robots, automated transporters, and other automated mobile devices. And through modular design, the complexity of development and maintenance is significantly reduced to adapt to a wide range of industrial applications and service needs.

[0053] Furthermore, in a preferred embodiment of the present invention, the lower computer module includes a kinematics model management unit and a control signal generation unit.

[0054] Among them, the kinematic model management unit (also known as the lower computer computing platform) is used to embed and centrally manage multiple kinematic models, automatically select the most suitable kinematic model according to the instructions transmitted by the upper computer module, without manual reconfiguration, thus realizing flexible switching and unified management of kinematic models, greatly simplifying the operation process.

[0055] The instructions transmitted by the host computer module in the above embodiment are diverse. The instruction content includes the instructions issued by the host computer, which contain both "chassis type selection" information and specific motion parameters and control requirements. For example, the user can specify the chassis type such as four-wheel differential, omnidirectional wheel, Mecanum wheel, etc. through a drop-down menu or configuration item in the host computer interface, and set the linear speed, angular velocity, turning radius, expected acceleration, etc. In addition, a unified data structure is used to encapsulate the instruction information, such as:

[0056]

[0057] Among them, chassis_type is the key field that characterizes the chassis category or kinematic model type, and the other fields are specific control parameters, which may also include additional instructions such as "whether to perform automatic calibration".

[0058] In a specific embodiment, the most suitable kinematic model is automatically selected according to the instructions transmitted by the host computer module, and the main process is as follows:

[0059] Firstly, in the lower computer (or the lower computer computing platform), various kinematic models such as differential drive model, Ackerman steering model, omnidirectional wheel model, Mecanum wheel model, three-wheel omnidirectional model, etc. are pre-embedded and centrally managed.

[0060] Next, the automatic matching process: when the lower computer receives the command data packet from the upper computer, it first parses the key information chassis_type. Then it searches for the kinematic model corresponding to this type in the model management unit; if the match is successful, it loads the model and prepares for the subsequent control quantity calculation.

[0061] Then, fault tolerance and calibration are performed: in scenarios where the chassis type may not match the actual hardware or there is a deviation in the initial sensor data, fault diagnosis and automatic calibration logic can be triggered: if it is detected that the current chassis is seriously mismatched with the selected model, such as unreasonable feedback on the number of wheels and wheel speed; the system can provide feedback to the host computer for prompts or automatically return to the default model to ensure safety and correctness.

[0062] Finally, parse the instructions to get the control signal:

[0063] Parsing instructions: As above, read core control parameters such as chassis_type, linear_speed, angular_speed, etc.

[0064] Select model: Load the corresponding kinematic equation in the model management unit of the lower computer according to chassis_type. For example, if it is a four-wheel differential model, use the left and right wheel differential formula; if it is omnidirectional or Mecanum, use the corresponding omnidirectional kinematic solution matrix.

[0065] Control quantity calculation: Input speed, acceleration, steering requirements, etc. into the corresponding kinematic equations and calculate the output, such as the speed, direction, steering angle or driving torque of each wheel.

[0066] Generate drive instructions: The control signal generation unit converts the above output into an instruction format that can be understood by the hardware layer, such as the expected speed / PWM / torque issued to each motor driver.

[0067] Optional automatic calibration: If the command contains an "auto calibration" request or a model switch is detected, the calibration process is triggered to debug or correct chassis parameters such as wheelbase, wheel diameter, inertia, etc. to ensure motion accuracy.

[0068] Traditional methods often require manual switching of chassis control programs or hard-coding of multiple sets of logic in the firmware. The above-mentioned embodiment of the present invention realizes a set of lower-level computer programs and multiple models for on-demand use through automatic recognition and rapid switching of instruction fields such as chassis_type, greatly simplifying the operation process. The kinematic models corresponding to different chassis types are scheduled by a unified management unit and combined with automatic calibration and fault detection mechanisms; in this way, in actual applications, the most suitable model can be dynamically selected according to chassis switching, sensor failure or changes in task requirements, without the need to develop or maintain different software versions multiple times. The new motion model can be easily "plugged in" to the system through the same framework. It only needs to define the "model identification + kinematic equation + parameter interface" to seamlessly connect with the upper-level computer instructions, ensuring that the system is compatible with more diverse chassis or complex scenarios in the future.

[0069] Control signal generation unit (also called motion model algorithm unit): generates a control signal according to the selected kinematic model and input motion parameters to drive the chassis to achieve the specified motion.

[0070] In some specific embodiments, an overall process of generating a control signal is provided, which is as follows:

[0071] Get and parse input:

[0072] The upper computer packages one of the chassis types such as differential drive, omnidirectional wheel, Mecanum wheel, and motion parameters such as linear velocity, angular velocity, steering angle, acceleration, etc. into a command and sends it to the lower computer;

[0073] After parsing the instruction, the lower computer selects the corresponding kinematic model according to the chassis type specified in the instruction, such as the differential drive model, omnidirectional wheel model, Ackerman steering model, etc.

[0074] Kinematic model calculation:

[0075] The control signal generation unit of the lower computer will send the parsed motion parameters to the corresponding kinematic model. The motion model calculates the target motion required by each actuator, such as the rotation speed or angle of the wheel, based on the structural characteristics of the chassis, such as the wheel distribution, steering mechanism, and sensor readings. If it is an omnidirectional wheel or Mecanum wheel, it is also necessary to calculate the speed components of multiple wheels in different directions. If it is an Ackerman steering chassis, it is necessary to calculate the steering wheel angle. Other chassis need to calculate the control quantity required when executing the movement, such as the servo angle, torque command, etc.

[0076] Standardized generation of low-level control instructions:

[0077] The model calculation results are uniformly converted into control instructions in a standard format within the system, such as: the target speed, PWM duty cycle, and torque command of the motor driver; the target angle and angular velocity of the steering actuator; or signals sent to other auxiliary modules such as brakes and direction sensors.

[0078] Ultimately, these instructions are sent to the chassis' motor drivers, servos and other actual actuators, allowing the chassis to move at the desired speed and attitude.

[0079] The control signal generating unit in the above embodiment ensures consistent control of different chassis types through standardized control processes, thereby reducing errors caused by differences in control processes. The standardized control process refers to:

[0080] Unified control interface and data format: The system internally agrees on and abstracts the input and output data of different kinematic models. For example, whether it is a differential drive or a Mename wheel, the final output must be low-level instructions such as "speed / torque of each wheel" or "steering angle". In order to be compatible with a variety of chassis models, the system defines a common data structure and processing sequence, so that the links from motion parameters to kinematic models to low-level instruction output are consistent in the program flow, reducing the possibility of making large-scale modifications in the control code due to model switching.

[0081] Same execution steps and timing management: Although the kinematic calculation method varies depending on the chassis type, the main process of "instruction reception, analysis, kinematic calculation, output of underlying signals, monitoring feedback" remains basically unchanged, which is called a "standardized" or "unified" control pipeline. This ensures that when multiple chassis are running in parallel or switching, the system still executes in an orderly manner according to the same process, and certain key control steps will not be skipped or repeated due to different chassis types.

[0082] Pluggable / scalable design: When introducing a new chassis or a new kinematic model, you only need to add / register the corresponding model and parameter solving logic in this standardized process. The main control framework does not need to be significantly adjusted, and the external interface remains consistent, which greatly reduces maintenance and expansion costs.

[0083] Based on the above standardized control process, consistency control is achieved. Consistency control refers to the consistency of the control process at the system software level. Specifically, from receiving motion parameters to outputting underlying drive signals, the system follows the same set of standard signal flow and data processing mechanisms; although the kinematic equations of the chassis actuators are different, they all go through a process of "obtaining parameters, selecting models, calculating control quantities, and outputting standard instructions" to ensure that all chassis can be driven correctly under the same framework. The above consistency control can effectively reduce usability issues or operational errors caused by the differences in the control processes of each chassis, and can also maintain relatively unified interfaces and methods during debugging and maintenance.

[0084] In another specific embodiment, a simple example is used to more intuitively explain "standardization control" and "consistency control". This embodiment takes a differential drive chassis as an example.

[0085] Input: linear velocity (v) = 1 m / s, angular velocity (ω) = 0.5 rad / s;

[0086] Kinematic calculation: left wheel speed = v-(ω×wheelbase / 2) right wheel speed = v+(ω×wheelbase / 2);

[0087] Standardized output: Convert left and right wheel speeds into motor driver commands, such as (LeftMotorCmd, RightMotorCmd).

[0088] Final chassis motion: The difference in left and right wheel speeds causes the robot to move at the specified speed and angular velocity.

[0089] When switching to the Mecanum wheel chassis

[0090] The inputs are the same: linear velocity (v), angular velocity (ω), and possibly lateral velocity (vx);

[0091] Kinematic calculation: Use the kinematic solution matrix of the Mename wheel to calculate the speed and direction of the four wheels;

[0092] Standardized output: also passed to the motor driver in the form of (Wheel1Cmd, Wheel2Cmd, Wheel3Cmd, Wheel4Cmd);

[0093] In the above process, the overall process of switching to the Mename wheel chassis is the same as the process of the differential drive chassis, except that the operation content and the number of instructions output to the motor and the speed value are different, but the input and output links of the process remain consistent. In the above embodiment, standardized control process and consistency control are realized through the kinematic model management unit and the control signal generation unit. The standardized control process is at the software architecture level, and all chassis are controlled according to the same instruction processing order, interface format, and underlying output method. The consistency control ensures that the control commands can be obtained and executed according to the same call logic and process under different models, reducing the risk of errors or parameter mismatch problems caused by model differences. The actual physical actions of each chassis are necessarily different, but the differences are encapsulated in the corresponding kinematic model through this unified framework. For the host computer and the system as a whole, the control method is highly consistent and scalable.

[0094] The chassis is the physical execution part of the control signal generated in the above embodiment, and the final motion command is executed by the chassis actuator. There are various types of chassis, such as four-wheel differential drive chassis, omni-directional wheel chassis, Mecanum wheel chassis, etc. Different chassis have different motion characteristics and applicable scenarios. In practical applications, the chassis actuator performs specific physical movements according to the control signal from the lower computer to complete the given task. Since a variety of kinematic models are integrated in the system, the chassis can easily realize various types of motion such as linear motion, complex steering, lateral movement, etc., to meet the needs of different scenarios, such as logistics transportation, warehouse management, service robots and other fields.

[0095] In order to further understand the operation process of the entire system, a specific embodiment of the present invention provides an example of a process in which a host computer module, a communication module, and a slave computer module obtain control instructions according to motion parameters and a selected motion model, as follows:

[0096] The lower computer module loads the corresponding kinematic model according to the chassis type obtained from the upper computer. For example, for the model of a four-wheel differential chassis, the kinematic relationship can be expressed as a function of the relationship between the left and right wheel speeds and the overall expected linear speed and angular velocity.

[0097] The lower computer module substitutes the motion parameters input by the user into the kinematic model, where the motion parameters are the expected linear velocity V and the expected angular velocity ω.

[0098] The lower computer module calculates the control quantity required by each chassis actuator through the kinematic model. The actuator here is the expected speed and steering angle of each wheel.

[0099] Based on the calculation results of the control quantities, the control signal generation unit of the lower computer module converts these control quantities into underlying executable control signals, such as the torque command of the motor, the PWM duty cycle command of the motor controller, etc.

[0100] The lower computer module will eventually send the control signal to the chassis's actuators, such as the motor driver, to make the chassis move according to the set linear speed and angular velocity requirements.

[0101] In the above embodiment, the entire control system adopts a modular design, supports the rapid configuration of new chassis, and reduces the time and resource waste of repeated development. The user only needs to select the corresponding chassis type through the host computer to achieve automatic adaptation, which greatly improves the ease of operation and flexibility. The lower computer module automatically adapts to different types of chassis by integrating a variety of kinematic models, effectively reducing development and maintenance costs. The chassis universal control system in the above embodiment has the ability to significantly improve operating efficiency and system stability, while providing a wide range of application possibilities to promote the continuous development and application expansion of mobile platform technology. This embodiment realizes data transmission between the host computer and the lower computer through the MQTT protocol to ensure the real-time and reliability of data transmission.

[0102] Preferably, in some preferred embodiments, the lower computer module is further provided with a fault diagnosis unit: used to monitor the system operation status and generate a fault report when an abnormality is detected. By sending the fault report to the upper computer module, the user can grasp the system status in real time and take necessary measures to ensure the safety and stability of the system.

[0103] Preferably, in some preferred embodiments, the lower computer module is further provided with an automatic calibration unit: after the chassis type is changed, the selected kinematic model is automatically calibrated to ensure the motion accuracy of the chassis in different environments. The unit can dynamically adjust the motion parameters according to the current environmental conditions of the chassis and the characteristics of the kinematic model to ensure high-precision control.

[0104] Specifically, when the chassis type is switched (for example, from four-wheel differential to omnidirectional), the lower computer needs to ensure that the new model is still accurate under the current environment and chassis hardware characteristics. The automatic calibration unit specifically includes:

[0105] Parameter confirmation subunit: reads preset basic parameters according to the currently selected chassis type (the newly selected omni-wheel chassis type), such as chassis size, wheel radius, wheelbase, nominal speed and reduction ratio, etc.

[0106] Preliminary test of the drive subunit: In a safe and controllable environment, the system executes a set of standardized simple motion test instructions on the chassis, such as: moving forward a certain distance at a low speed, and rotating a certain angle on the spot.

[0107] Sensor feedback comparison subunit: The system measures and feedbacks the actual movement results of the chassis through sensors on the chassis (such as encoders, odometers, IMUs or lidar, etc.). For example:

[0108] The expected forward movement is 1 meter, but the actual sensor measurement is 1.05 meters;

[0109] Expected rotation is 90 degrees, actual sensor measures 88 degrees.

[0110] Error analysis subunit: Calculates error distribution based on the deviation between expected and actual results.

[0111] Parameter adjustment subunit: Automatically adjust key parameters in the kinematic model (kinematic model corresponding to the omni-directional wheel chassis type) according to the error distribution, such as wheel diameter compensation coefficient, weight of error correction matrix, steering angle correction factor, etc. This adjustment can be done by simple proportional correction, or by using calibration algorithm or optimization method to correct model parameters.

[0112] Repeat test and convergence subunit: issue the test command again and measure the actual motion result. If the error is reduced to within the expected range, the calibration is completed. If there is still a large deviation, correct the parameters again and repeat the process until the error meets the requirements.

[0113] Storage and application subunit: The final corrected motion model parameters are stored in the storage unit of the lower computer as the default parameters for the chassis type in the future, so as to ensure that no repeated calibration is required or only fine-tuning is required at the next startup or switch.

[0114] Through the above calibration process, the system can maintain high-precision control after the chassis type changes or the environment changes, thereby improving the adaptability and reliability of the overall system.

[0115] Preferably, in some preferred embodiments, the lower computer module is further provided with a storage unit: used to store user-defined motion parameters and system configuration, using non-volatile memory to ensure that important data is not lost in the event of a power outage. The unit can save the system's historical configuration and motion parameters for subsequent analysis and maintenance.

[0116] In another preferred embodiment, the host computer module also includes a remote monitoring unit, through which the user can monitor the status of the chassis and adjust the motion parameters according to the real-time situation. The remote monitoring unit supports multi-user access and provides historical data recording and analysis functions to facilitate operation and maintenance management and system optimization, thereby improving the overall efficiency of the system in multi-chassis management scenarios.

[0117] In summary, the universal chassis control system of the embodiment of the present invention realizes rapid adaptation and centralized control of different types of chassis through modular design and integration of multiple kinematic models, reduces development and maintenance costs, and significantly improves the flexibility and reliability of the system.

[0118] Of course, the above-mentioned differential drive model, Ackerman steering model, omnidirectional wheel model, four-wheel Mecanum wheel model and three-wheel omnidirectional model, these individual kinematic models themselves are existing technologies and have applications in their respective fields. For example, four-wheel differential drive is common in traditional mobile robot platforms; Ackerman steering is widely used in automobiles and low-speed unmanned driving platforms; omnidirectional wheels and Mecanum wheels are also used in service robots and industrial robots. However, in traditional applications, each chassis model usually corresponds to a complete set of specialized hardware designs and supporting control systems, and there is no general system for multi-model switching to uniformly manage and control it, because there are many difficulties in centrally managing and switching multiple models:

[0119] First, there are big differences in kinematics: The kinematic equations of the above-mentioned different chassis are obviously different, especially for the omnidirectional wheels, Mecanum wheels and three-wheel omnidirectional chassis with high omnidirectionality, which are significantly different from differential drive and Ackerman steering in terms of speed solution and steering control. To achieve dynamic switching of various models under the same control framework and maintain consistent control accuracy, high flexibility is required for the software architecture and control algorithm.

[0120] Secondly, parameter management and automatic calibration: Different models have different parameter requirements for chassis size, wheel diameter, wheelbase, reduction ratio, sensor configuration, etc. How to automatically load and calibrate these parameters in a unified lower computer module to ensure accuracy and reliability during switching is a technical difficulty.

[0121] In addition, real-time communication and multi-model data volume: When the system is compatible with multiple chassis, it needs to have multiple data transmission, sensor fusion and real-time control capabilities. The feedback of different chassis in motion, such as speed and angle, is also different, which can easily lead to high load or real-time challenges for the communication module and the lower computer.

[0122] Finally, fault detection and model switching safety: In a multi-model environment, to ensure safety, it is necessary to monitor and quickly diagnose faults to avoid loss of control or misoperation when switching between different chassis types. How to uniformly design fault diagnosis modules and ensure safety redundancy is also a major difficulty.

[0123] The above embodiment of the present invention, in view of the above difficulties, provides a universal chassis control system in the embodiment of the present invention, which includes:

[0124] Unified modular design: Although the kinematic model of a single chassis is already available, it is not common in the prior art to centrally manage and automatically switch multiple models under the same system architecture, and to adapt to different chassis through simple operations of the host computer. The present invention has made a universal design from software architecture to hardware interface, which greatly reduces the secondary development and maintenance costs.

[0125] Automatic calibration and fault diagnosis: In view of the characteristics of multiple models, the present invention proposes an automatic calibration unit and a fault diagnosis unit, which are used to adjust or report faults in real time when chassis types are switched and under various environmental conditions (such as changes in ground friction coefficient, sensor errors, etc.), so that "multi-model unified control" can be feasible and highly reliable at the practical level. Traditionally, calibration is often performed for a single chassis, lacking the concept and implementation details of switching and universal control.

[0126] Generalization for different application scenarios: The present invention is not only targeted at one or two chassis, but explicitly lists and adapts to common chassis types including differential drive, Ackerman, omnidirectional, Mecanum, etc., coupled with scalability, it can be universally implemented in more types of mobile platforms, greatly improving the applicability of the system and breaking through the limitation of existing technologies that usually only target a single or a few chassis.

[0127] In summary, the present invention provides a control system solution that integrates and flexibly switches multiple chassis kinematic models. In the process, it solves technical problems such as cross-model automatic calibration, unified parameter / fault management, real-time communication and remote monitoring, and forms an overall solution with creativity and practical value.

[0128] The specific embodiments of the present invention are described in detail above, but are not limited to these specific embodiments. Without departing from the spirit and scope of the present invention, those skilled in the art may make various changes or modifications, which should be included in the protection scope of the present invention.

Claims

1. A universal chassis control system, characterized in that: It includes a host computer module, a communication module and a slave computer module; The host computer module has a user interface, through which the user selects the target chassis type and sets the motion parameters; The communication module realizes the communication between the upper computer module and the lower computer module, and sends the chassis type selected by the user and the motion parameters set to the lower computer module; The lower computer module has built-in kinematic models of various chassis types, automatically selects the corresponding kinematic model according to the chassis type transmitted by the upper computer module, and generates a control signal according to the motion parameters to drive the chassis to move.

2. A universal chassis control system according to claim 1, characterized in that: The kinematic model of the lower computer module includes one or more of a differential drive model, an Ackerman steering model, a four-wheel Mecanum wheel model, an omnidirectional wheel model and a three-wheel omnidirectional model.

3. A universal chassis control system according to claim 1, characterized in that: The motion parameters obtained by the host computer include one or more of linear velocity, angular velocity and steering angle.

4. A universal chassis control system according to claim 1, characterized in that: The communication module performs two-way communication between the upper computer and the lower computer through the MQTT protocol.

5. A universal chassis control system according to claim 1, characterized in that: The lower computer module comprises: Kinematic model management unit: embeds and centrally manages multiple kinematic models, and automatically selects the corresponding kinematic model according to the chassis type instruction transmitted by the host computer module; Control signal generating unit: generates corresponding control signals according to the selected kinematic model and the input motion parameters to drive the chassis to achieve corresponding motion.

6. A universal chassis control system according to claim 5, characterized in that: The lower computer module also includes a fault diagnosis unit; the fault diagnosis unit is used to monitor the operating status of the chassis during system operation, and if an abnormal situation is detected, a fault report is generated and sent to the upper computer module.

7. The universal chassis control system according to claim 1, characterized in that: The lower computer module also includes a storage unit; the storage unit is used to store the motion parameters and the parameters of the kinematic model set by the user.

8. The universal chassis control system according to claim 7, characterized in that: The lower computer module further includes an automatic calibration unit, which is used to automatically calibrate the selected kinematic model after the chassis type is switched to ensure that the chassis moves in different environments; The automatic calibration unit comprises: Parameter confirmation subunit: reads the preset basic parameters according to the chassis type after switching; A preliminary test driving subunit drives the chassis to execute a set of motion test instructions; The sensor feedback comparison subunit measures and provides feedback on the actual motion results of the chassis executing the test instruction; Error analysis subunit: calculates the error between the test instruction and the actual motion result; A parameter adjustment subunit: automatically adjusting the parameters of the switched kinematic model according to the error; Repeat test and convergence subunit: issue test instructions again, measure actual motion results, if the error is reduced to within the expected range, the calibration is completed; otherwise, correct the parameters of the kinematic model again, and repeat the process until the error meets the requirements; Storage and application submodule subunit: stores the final corrected motion model parameters in the storage unit of the lower computer module as the default parameters for the subsequent chassis type.

9. The universal chassis control system according to claim 1, characterized in that: The system further comprises a remote monitoring unit, which is connected to the host computer module via a remote interface, monitors the status of the chassis, and adjusts motion parameters according to real-time conditions to achieve remote control and management.

10. The universal chassis control system according to claim 9, characterized in that: The remote monitoring unit supports multi-user access and provides historical data recording and analysis functions.

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