Mobile Robot Controller

The self-driving controller (also known as the AGV/AMR autonomous control system master controller or chassis brain) is the most critical hardware component for mobile robots (AGVs, AMRs, unmanned forklifts, inspection robots, etc.). It is responsible for real-time collection of all navigation sensor data (such as laser scanners, QR code readers, magnetic nail sensors, vision cameras, inertial measurement units (IMUs), UWB/GPS, etc.), calculating safe distances, determining travel paths, and ultimately driving motors to follow pre-set trajectories or host computer commands precisely. It is a core control hardware specifically designed and manufactured for a robot chassis.

Simply put, it functions as a highly customized industrial computer, with its hardware architecture, operating system, and software capabilities all optimized specifically for the application requirements of robotic chassis. Its primary features and functions include:

Parameter Table

Core Task Executor:

1. Motion Control: Precisely controls the rotational speed and steering angle of each drive wheel (typically 2 or 4), enabling the robot to perform complex maneuvers such as forward/reverse movement, zero-radius pivoting, figure-eight sideways movement, and more—whether using differential wheels, dual steering wheels, or omnidirectional wheels—while maintaining preset paths and speeds.

2. Navigation Control: Receives signal data from navigation sensors (such as laser scanners, QR code readers, magnetic nail sensors, vision cameras, inertial measurement units (IMUs), UWB/GPS, etc.).

Path Planning and Tracking: Calculates and tracks the operational path in real time based on navigation data, pre-set maps, and scheduling instructions, performing position calibration.

3. Obstacle Avoidance and Safety: Real-time processing of signals from various safety sensors (such as LiDAR, ultrasonic sensors, emergency stop buttons, safety edges/light curtains) triggers immediate safety measures—including emergency stops or deceleration—upon detecting obstacles or hazards.

4. Task Execution: Precisely control actuators on the robot chassis—such as lifting mechanisms, conveyor belts, rollers, and telescopic forks—to perform specific operations including picking, placing, towing, and jacking.

5. Status Monitoring: Real-time monitoring of the robot chassis' battery level, motor status, sensor status, fault information, and other parameters.

Key Hardware Interfaces:

1. Drive Interface: Connects to and controls motor drivers (e.g., servo drivers, stepper drivers) for drive wheels and steering wheels.

Typically provides 4–8 independent motor control channels, each supporting CANopen, EtherCAT, or RS-485 protocols. Capable of simultaneously supporting various configurations, including differential wheels, dual steering wheels, and independent suspension wheels. Supports seamless direct connection to servo, brushless DC, and stepper drivers. No rewiring required when swapping wheels or adding drivers in the field.

2. Navigation Sensor Interface: Connects laser navigation sensors, QR code readers, magnetic guide/magnetic nail sensors, vision cameras, IMUs, etc.

3. Safety Sensor Interface: Connects safety laser scanners, ultrasonic sensors, emergency stop buttons, safety touch edges/light curtains, etc.

Communication Interfaces:

1. Communicates with onboard PLC/HMI (if applicable).

2. Communicates with upper-level scheduling systems: Receives task instructions and path information via wireless communication modules (typically Wi-Fi or industrial Ethernet), while reporting the robot chassis' position, status, and task completion status.

3. Fieldbus Interfaces: Such as EtherCAT, CANopen, PROFINET, EtherNet/IP, etc., for high-speed, real-time device-to-device communication (e.g., with drives).

4. Serial Communication Interfaces: Such as RS232/485, connecting certain sensors or instruments.

I/O Interfaces: Connect sensor inputs and control signal outputs (control lights, horns, actuator switches, etc.).

Optimized Performance:

1. Real-time Capability: Demands extremely high response times for sensor signal processing and motion control to ensure safety protection and precise path tracking.

2. Stability and Reliability: Designed specifically for industrial environments (vibration, temperature, electromagnetic interference) to guarantee uninterrupted operation over extended periods.

3. Scalability: Features standardized interfaces and modular design for seamless integration with sensors, actuators, and upper-level systems from various brands, adapting to different vehicle models and applications.

4. Safety: May incorporate hardware functional safety modules (compliant with SIL/PL ratings) to guarantee reliability of safety-critical logic.

5. Compatibility: Supports multiple navigation methods and communication protocols.

Differences from General-Purpose Mobile Robot Controller:

1. High Specialization: Unlike general-purpose PLCs or industrial PCs, its software and hardware architecture are deeply optimized for AGV-specific functions (navigation, differential steering control, safety protocols).

2. High Integration: Typically integrates hardware support for all essential interfaces required by autonomous robot chassis, reducing external wiring and adapter needs.

3. Pre-built Function Libraries: Provides development toolkits including fundamental motion control libraries, safety processing libraries, and navigation adaptation libraries to accelerate AGV development and deployment.

The autonomous robot chassis controller is specifically designed to drive robot chassis with precise movement according to pre-set navigation methods, plan and track routes, perform real-time obstacle avoidance, execute vehicle tasks (such as lifting and towing), and communicate with external dispatch systems and onboard equipment. Both its hardware architecture and software functionality are specially designed and optimized to meet the demanding requirements (real-time capability, safety, stability, and scalability) of unmanned vehicles operating in agricultural, industrial, and commercial environments.