Domain control system for autonomous mobile device drive-by-wire chassis

Abstract

This application relates to the field of robot control technology, and more particularly to a domain control system for a drive-by-wire chassis of an autonomous mobile device. This domain control system is used for the unified control of the actuators of the autonomous mobile device chassis, and includes: a core processor and a CAN signal processor connected to the core processor and the autonomous mobile device's autonomous driving system; a remote control signal processor connected to the core processor; and a data transmission module connected to the core processor and the autonomous mobile device chassis actuators. The application adopts a domain control concept to decouple the chassis domain control system from the upper-level autonomous driving control system. It uses a low-cost microcontroller to achieve unified control of the chassis and various actuators. Through standardized upper-level control interfaces and communication protocols, it ensures decoupling and compatibility with the autonomous driving control system, improves platform versatility and portability, and reduces development costs.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a domain control system for a wire-controlled chassis of an autonomous mobile device. Background Technology

[0002] Currently, the control systems of commercially available autonomous mobile devices (such as unmanned cleaning robots and logistics delivery robots) generally integrate chassis control functions with the upper-level autonomous driving control system, primarily through hardware-software integration. These systems typically employ dedicated, customized designs, involving multiple modules such as chassis drive, actuators (e.g., lifting, sweeping), and sensor system management. This results in tight coupling between hardware and software, poor platform versatility, and high development and maintenance costs for the control system. In practical applications, the remote control functions of existing chassis control systems largely rely on general wireless networks (such as WiFi or Internet protocols). When the network environment is complex or signal interference is severe, problems such as remote control delays and signal loss can easily occur, affecting the safety and real-time performance of the equipment. Furthermore, the interface between the upper-level autonomous driving controller and the chassis control system in existing solutions lacks a unified standard, leading to high complexity in system integration, platform migration, and functional expansion, thus limiting rapid product iteration and large-scale deployment. Utility Model Content

[0003] The technical problem this invention aims to solve is that the existing autonomous mobile device chassis control system is integrated into the autonomous driving system, resulting in poor adaptability and limiting the rapid iteration and large-scale promotion of the product.

[0004] Therefore, this utility model provides a domain control system for a wire-controlled chassis of an autonomous mobile device. It adopts a hierarchical domain control architecture, which independently implements the chassis control domain and applies it to the autonomous mobile device / robot platform, giving full play to the advantages of the hierarchical architecture in improving system security, versatility and reducing costs.

[0005] The technical solution adopted by this utility model to solve its technical problem is:

[0006] A domain control system for a drive-by-wire chassis of an autonomous mobile device, the domain control system being used for unified control of the actuators of the autonomous mobile device chassis, the domain control system comprising:

[0007] Core processor, and

[0008] A CAN signal processor, which is connected to the core processor and to the autonomous driving system of the autonomous mobile device;

[0009] A remote control signal processor, which is connected to the core processor;

[0010] The data transmission module is connected to the core processor and to the actuator of the autonomous mobile device chassis.

[0011] Furthermore, the core processor is connected to the sensor system of the autonomous mobile device via an optocoupler-isolated input circuit.

[0012] Furthermore, a digital isolator is provided between the CAN signal processor and the core processor.

[0013] Furthermore, the data transmission module includes multiple RS485 physical layer transceivers, a CAN physical layer transceiver, a digital-to-analog converter output buffer circuit, and an open-drain output drive circuit.

[0014] Furthermore, a digital isolator is provided between the RS485 physical layer transceiver, the CAN physical layer transceiver and the core processor.

[0015] Furthermore, an optocoupler is provided between the open-drain output drive circuit and the core processor.

[0016] Furthermore, the core processor is configured as an ARM Cortex-M4 core microprocessor.

[0017] Furthermore, it also includes a power module, which includes a power supply circuit and is used to supply power to the CAN signal processor, data transmission module, core processor, and optocoupler isolation input circuit.

[0018] Furthermore, the power module also includes a power isolator, one end of which is connected to the power circuit, and the other end is connected to the CAN signal processor, the data transmission module, the core processor, and the optocoupler isolation input circuit to provide isolated power.

[0019] The beneficial effects of this utility model are that it decouples the chassis domain control system from the upper-level autonomous driving control system, realizes unified control of the chassis and various actuators through a low-cost microcontroller, and supports kinematic control of different chassis structures.

[0020] The system adopts a layered architecture and a standardized CAN interface protocol. The communication and integration methods between the upper-level controller and the chassis controller are highly unified, which greatly improves the platform's versatility and portability.

[0021] The chassis controller employs model aircraft-grade remote control technology, providing the equipment with a highly reliable, low-latency, and low-cost remote control mode independent of the autopilot controller. This facilitates safe takeover and efficient control in autonomous driving development, debugging, and practical application scenarios. The entire chassis control system can be implemented based on a low-cost microcontroller costing only a few hundred yuan, significantly reducing equipment production, integration, and maintenance costs, while meeting the high safety, high reliability, and large-scale application requirements of various types of autonomous mobile devices. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Figure 1 This is a schematic diagram of the domain control system of the autonomous mobile device wire control chassis in this utility model.

[0024] Figure 2 This is a schematic diagram of the working principle of the domain control system of the autonomous mobile device wire-controlled chassis in this utility model. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0026] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] A domain control system for an autonomous mobile device wire-controlled chassis includes a communication module, a power module, a core processing module, and a data transmission module.

[0029] Specifically, the communication module includes a CAN signal processor, a remote control signal processor, and a digital-to-analog converter. The CAN signal processor includes a CAN signal receiver and a CAN signal transmitter. The CAN signal receiver receives control signals from the autonomous driving controller, converts the control signals into messages, and then transmits the converted information to the core processor. A digital isolator is set between the core processor and the CAN signal processor. The remote control signal processor receives remote control signals and transmits them to the core processor. The digital-to-analog converter receives voltage signals and transmits them to the core processor.

[0030] The core processor is configured with an ARM Cortex-M4 (M3 / M7) core microprocessor. The sensor system of the autonomous mobile device transmits signals to the core processor through an optocoupler-isolated input circuit, enabling the core processor to monitor the driving status and provide driving feedback in real time. The core processor can determine the control status based on the control signals from the autonomous driving controller, thereby determining the appropriate driving mode (remote driving or autonomous driving). After determining the driving mode, the core processor controls the actuators in the autonomous mobile device to operate through the data transmission module based on control signals, remote control signals, or voltage signals.

[0031] The data transmission module includes multiple RS485 physical layer transceivers, a CAN physical layer transceiver, a digital-to-analog converter output buffer circuit, and an open-drain output driver circuit. The RS485 physical layer transceivers are connected to the sensor system and actuators of the autonomous mobile device, respectively. The CAN physical layer transceiver is connected to the actuators (such as the steering drive) of the autonomous mobile device. The digital-to-analog converter output buffer circuit is connected to the actuators (such as the motor driver) of the autonomous mobile device. The open-drain output driver circuit is connected to the actuators (such as the lifter) of the autonomous mobile device. It should be noted that digital isolators are installed between the RS485 and CAN physical layer transceivers and the core processor, and an optocoupler is installed between the open-drain output driver circuit and the core processor.

[0032] The power module includes a power circuit and a power isolator. The power isolator is connected to the power circuit, and the end of the power isolator away from the power circuit is connected to the CAN signal processor, the data transmission module, the core processor, and the optocoupler isolation input circuit to provide isolated power.

[0033] The system adopts a layered structure, specifically, the communication module is the communication layer, the core processor is the decision layer, and the data transmission module is the hardware driver layer.

[0034] This application draws inspiration from the domain control concept of passenger vehicles, separating the domain control system of the autonomous mobile device's drive-by-wire chassis from the overall control architecture of the autonomous mobile device. It adopts a layered architecture design to achieve unified control of the chassis and all actuators (such as drive, steering, lifting, and cleaning). The system ensures decoupling and compatibility with the upper-level autonomous driving control system through standardized upper-level control interfaces and communication protocols (such as the CAN bus protocol, where CAN stands for Controller Area Network).

[0035] Through interface isolation and layered modular design, the upper-layer control logic is completely decoupled from the lower-layer hardware, facilitating rapid portability between different types of autonomous mobile devices, robot platforms, and wire-controlled chassis. Only the lower-layer driver layer needs to be adjusted to adapt to new platforms. The system can achieve core functions based on a low-cost microcontroller, with the overall cost controllable to the hundreds of yuan, significantly reducing equipment development, integration, and maintenance costs.

[0036] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined by the scope of the claims.

Claims

1. A domain control system for an autonomous mobile device's wire-controlled chassis, characterized in that, This domain control system is used for the unified control of the actuators of the chassis of autonomous mobile devices. The domain control system includes: Core processor, and A CAN signal processor, which is connected to the core processor and to the autonomous driving system of the autonomous mobile device; A remote control signal processor, which is connected to the core processor; The data transmission module is connected to the core processor and to the actuator of the autonomous mobile device chassis.

2. The domain control system of an autonomous mobile device drive-by-wire chassis of claim 1, wherein, The core processor is connected to the sensor system of the autonomous mobile device via an optocoupler-isolated input circuit.

3. The domain control system for an autonomous mobile device drive-by-wire chassis of claim 1, wherein, A digital isolator is provided between the CAN signal processor and the core processor.

4. The domain control system for an autonomous mobile device skid-steer chassis of claim 1, wherein, The data transmission module includes multiple RS485 physical layer transceivers, a CAN physical layer transceiver, a digital-to-analog converter output buffer circuit, and an open-drain output drive circuit.

5. The domain control system of an autonomous mobile device drive-by-wire chassis of claim 4, wherein, A digital isolator is provided between the RS485 physical layer transceiver, the CAN physical layer transceiver and the core processor.

6. The domain control system of an autonomous mobile device drive-by-wire chassis of claim 4, wherein, An optocoupler is provided between the open-drain output drive circuit and the core processor.

7. The domain control system for an autonomous mobile device drive-by-wire chassis of claim 1, wherein, The core processor is set to an ARM Cortex-M4 core microprocessor.

8. The domain control system of an autonomous mobile device drive-by-wire chassis of claim 2, wherein, It also includes a power module, which includes a power circuit and is used to supply power to the CAN signal processor, data transmission module, core processor, and optocoupler isolation input circuit.

9. The domain control system of an autonomous mobile device drive-by-wire chassis of claim 8, wherein, The power module also includes a power isolator, one end of which is connected to the power circuit, and the other end is connected to the CAN signal processor, the data transmission module, the core processor, and the optocoupler isolation input circuit to provide isolated power.

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