CN106444491A - Autonomous mobile robot communication system based on CAN bus - Google Patents
Autonomous mobile robot communication system based on CAN bus Download PDFInfo
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- CN106444491A CN106444491A CN201610822217.XA CN201610822217A CN106444491A CN 106444491 A CN106444491 A CN 106444491A CN 201610822217 A CN201610822217 A CN 201610822217A CN 106444491 A CN106444491 A CN 106444491A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The invention discloses an autonomous mobile robot communication system based on a CAN bus. The system comprises a human-computer interaction unit and a CAN bus control unit. A DSP control system is connected between the data links of the human-computer interaction unit and the CAN bus control unit through an FPGA controller. The human-computer interaction unit includes a wireless local area network interface, and the output end of the wireless local area network interface is connected with a CAN bus adapter card. The CAN bus control unit includes a network server, and the network server is connected with a wireless data transceiver. The FPGA controller includes a GPS positioning module and a servo system, and the output end of the servo system is connected with the DSP control system. Frequency conversion is performed between a clock detection module and the DSP control system. A controller local network structure based on a CAN bus is adopted, and reliable, real-time and flexible data communication is realized between the DSP system and an upper control computer independent of each other.
Description
Technical field
The present invention relates to robot communication systems technology field, specially a kind of autonomous machine based on CAN
People's communication system.
Background technology
With the development of roboticses, the requirement to robot for the people is no longer limited to individual machine people, and will be more
Energy transfer in the system of multiple robots composition, being not only because some work is that individual machine people cannot undertake
, and increasing example shows, for some dynamics are strong and also the task of complexity, exploitation individual machine people is more than opening
Send out multi-robot system complicated and expensive.System using multiple simple machine people composition can be more preferable than single complex machines people
Complete task, and system maintainability substantially increases, in conventional machines people's control system, robot sensor signal
Process and the SERVO CONTROL of travel mechanism to be completed using Single Chip Microcomputer (SCM) system, the planning of robot and decision-making are calculated by top level control
Machine is realized, and the communication of top level computer and lower module adopts RS232 or RS485 serial communication mode, the advantage of this structure
It is low cost, structure is simple, and major defect is signal processing and poor arithmetic ability, traffic rate is low it is difficult to adaptation is unknown dynamic
The requirement of environment.
Content of the invention
For problem above, the invention provides a kind of autonomous mobile robot communication system based on CAN, system
It is made up of embedded industrial control computer, CAN adapter, wireless communication card, image pick-up card etc., it mainly completes two
Partial function：One is system initialization, system diagnostics and error reporting, trajectory planning, navigation and avoidance；Two is system communication tube
Reason, is on the one hand completed the man-machine interaction with monitoring client by wireless network, is on the other hand communicated with DSP by CAN,
Obtain the environmental information of robot perception and the running status of robot from each DSP, and send various action commands to DSP, can
With the problem in effectively solving background technology.
For achieving the above object, the present invention provides following technical scheme：A kind of autonomous mobile robot based on CAN
Communication system, including man-machine interaction unit and CAN control unit, described man-machine interaction unit and CAN control unit
Data link between DSP control system is connected with by FPGA controller, described man-machine interaction unit includes WLAN
Network interface, the data terminal of described WLAN interface is connected with wireless communication card and top level control computer, wireless local
The outfan of network interface is connected with CAN adapter；Described CAN control unit includes the webserver, and network takes
The input of business device is connected with data base, and the data terminal of the described webserver is connected with data storage cell, the webserver
It is also associated with wireless receiver；Described FPGA controller includes d GPS locating module and servosystem, described servosystem
Outfan is connected with DSP control system, and the data terminal of d GPS locating module is also associated with clock detection module, described clock
Detection module and DSP control system carry out frequency transformation.
As a kind of preferred technical scheme of the present invention, described WLAN interface includes dual-mode antenna, described receipts
The data terminal sending out antenna is connected with network signal detector, and the inside of network signal detector is additionally provided with signal encryption mould
Block, the outfan of described dual-mode antenna is also associated with digital-to-analog converter.
As a kind of preferred technical scheme of the present invention, described wireless communication card includes remote control Transmit-Receive Unit and remote sensing mould
Block, the outfan of described remote control Transmit-Receive Unit is connected with signal amplifier, and the outfan of described signal amplifier is connected with modulation
Demodulator, described modem is connected to the input/output terminal of remote sensing module.
As a kind of preferred technical scheme of the present invention, described CAN adapter includes sensor group, described sensor
Group is connected with channel coding module by power amplifier, and the data terminal of described channel coding module is also associated with time stimulatiom
Module.
As a kind of preferred technical scheme of the present invention, described data storage cell includes data receiver port and networking inspection
Survey device, the outfan of described networking detector is connected with register configuration module by asynchronous detection module.
As a kind of preferred technical scheme of the present invention, described FPGA controller also includes jtag interface module and function is imitated
True module, described functional simulation module is connected with clock depth control block by frequency detecting meter, described frequency detecting meter
Data terminal feed back to jtag interface module.
As a kind of preferred technical scheme of the present invention, described DSP control system includes infrared sensor and photoelectric sensing
Device, described infrared sensor is connected with photoelectric code disk with the outfan of photoelectric sensor, the data terminal of described photoelectric code disk with
Travel mechanism is connected.
As a kind of preferred technical scheme of the present invention, described servosystem includes convolution coder, described convolutional encoding
The outfan of device is connected with signal modulation module and signal demodulation module, and described signal modulation module is defeated with signal demodulation module
Go out end to be all connected with d GPS locating module.
Compared with prior art, the invention has the beneficial effects as follows：It is somebody's turn to do the autonomous mobile robot communication system based on CAN
System, system is made up of embedded industrial control computer, CAN adapter, wireless communication card, image pick-up card etc., and it is led
Complete two parts function：One is system initialization, system diagnostics and error reporting, trajectory planning, navigation and avoidance；Two is to be
System telecommunication management, on the one hand completes the man-machine interaction with monitoring client by wireless network, on the other hand passes through CAN and DSP
Communicated, obtained the environmental information of robot perception and the running status of robot from each DSP, and sent to DSP various dynamic
Order, and final control system is by the dsp system group of four parallel processings such as ultrasonic, infrared, close, positioning and SERVO CONTROL
Become, by CAN, on the one hand complete the signal processing of each sensor, and respective result is sent to top level control meter
Calculation machine, on the other hand, receives the various control commands of top level control computer, realizes positioning and the servo control of mobile robot
System, in monitoring client, so that robot can accept the control of monitoring personnel under special circumstances, needs to set up monitoring system
System, realizes point to point wireless communication by wireless LAN card between robot body and monitoring equipment, completes robot and monitoring
The real-time, interactive of personnel.
Brief description
Fig. 1 is present configuration schematic diagram；
Fig. 2 is electrical block diagram of the present invention.
In figure：1- man-machine interaction unit；2-CAN bus control unit；3-DSP control system；4- WLAN connects
Mouthful；5- wireless communication card；6- top level control computer；The 7- webserver；8- data storage cell；9- wireless data transceiving
Device；10-GPS locating module；11- servosystem；12- clock detection module；13- dual-mode antenna；14- network signal detector；
15- signal encryption module；16- remote control Transmit-Receive Unit；17- remote sensing module；18- signal amplifier；19- modem；20- passes
Sensor group；21- power amplifier；22- channel coding module；23- time stimulatiom module；24-FPGA controller；25- data connects
Receiving end mouth；26- networking detector；27- asynchronous detection module；28- register configuration module；29-JTAG interface module；30- work(
Can emulation module；31- frequency detecting meter；32- clock depth control block；33- digital-to-analog converter；34- infrared sensor；35-
Photoelectric sensor；36- photoelectric code disk；37- travel mechanism；38- convolution coder；39- signal modulation module；40- signal demodulates
Module；41-CAN bus adapter；42- data base.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
Embodiment：
Refer to Fig. 1 and Fig. 2, the present invention provides a kind of technical scheme：A kind of autonomous mobile robot based on CAN
Communication system, including man-machine interaction unit 1 and CAN control unit 2, described man-machine interaction unit 1 and CAN control list
Between the data link of unit 2, DSP control system 3 is connected with by FPGA controller 24, described man-machine interaction unit 1 includes wirelessly
Local area network interface 4, described WLAN interface 4 includes dual-mode antenna 13, and the data terminal of described dual-mode antenna 13 connects
There is network signal detector 14, and the inside of network signal detector 14 is additionally provided with signal encryption module 15, described transmitting-receiving sky
The outfan of line 13 is also associated with digital-to-analog converter 33, and the data terminal of described WLAN interface 4 is connected with radio communication
Card 5 and top level control computer 6, described wireless communication card 5 includes remote control Transmit-Receive Unit 16 and remote sensing module 17, and described remote control is received
The outfan of bill unit 16 is connected with signal amplifier 18, and the outfan of described signal amplifier 18 is connected with modem
19, described modem 19 is connected to the input/output terminal of remote sensing module 17, and the outfan of WLAN interface 4 connects
There is CAN adapter 41, described CAN adapter 41 includes sensor group 20, described sensor group 20 is put by power
Big device 21 is connected with channel coding module 22, and the data terminal of described channel coding module 22 is also associated with time stimulatiom module
23；Described CAN control unit 2 includes the webserver 7, and the input of the webserver 7 is connected with data base 42, described
The data terminal of the webserver 7 is connected with data storage cell 8, and described data storage cell 8 includes data receiver port 25 He
Networking detector 26, the outfan of described networking detector 26 is connected with register configuration module 28 by asynchronous detection module 27
Connect, the webserver 7 is also associated with wireless receiver 9；Described FPGA controller 24 also includes jtag interface module 29 He
Functional simulation module 30, described functional simulation module 30 is connected with clock depth control block 32 by frequency detecting meter 31,
The data terminal of described frequency detecting meter 31 feeds back to jtag interface module 29, and described FPGA controller 24 includes d GPS locating module
10 and servosystem 11, described servosystem 11 includes convolution coder 38, and the outfan of described convolution coder 38 is connected with
Signal modulation module 39 and signal demodulation module 40, the outfan of described signal modulation module 39 and signal demodulation module 40 all with
D GPS locating module 10 is connected, and the outfan of described servosystem 11 is connected with DSP control system 3, and d GPS locating module
10 data terminal is also associated with clock detection module 12, and described clock detection module 12 and DSP control system 3 are entered line frequency and become
Change, described DSP control system 3 includes infrared sensor 34 and photoelectric sensor 35, described infrared sensor 34 and photoelectric sensing
The outfan of device 35 is connected with photoelectric code disk 36, and the data terminal of described photoelectric code disk 36 is connected with travel mechanism 37.
(1) described top level computer 6 realizes the communication between monitoring equipment and mobile robot, including monitoring equipment and moving machine
Transmission of video between device people, control command transmission and sensor data transmission, can be to some parameters of mobile robot
Setting, the monitoring of state is adjusted with conversion, Data Detection and mobile control function.
(2) 16 sonacs are had in described dsp system, the distance measurement value of each sonac uses two in DSP
Individual byte storage, has 32 bytes and stores all distance measurement values, thus all distance measurement values of transmission need 4 Frames could transmit
Complete；16 infrared sensors and 16 proximity transducers take two bytes respectively, and each represents a sensor information, and 1
Represent and detect barrier, 0 represents do not have barrier；Positioning and computer from SERVO CONTROL dsp system to upper strata control system
The current various running statuses of distribution of machine people, working method as current in robot, the speed of service, acceleration and robot
The direction of movement, mileage, cell voltage etc., need 4 Frames could transmit altogether.
The operation principle of the present invention：It is somebody's turn to do the autonomous mobile robot communication system based on CAN, system is by embedded work
Industry control computer, CAN adapter, wireless communication card, image pick-up card etc. form, and it mainly completes two parts function：
One is system initialization, system diagnostics and error reporting, trajectory planning, navigation and avoidance；Two is system telecommunication management, on the one hand
Man-machine interaction with monitoring client is completed by wireless network, is on the other hand communicated with DSP by CAN, obtain from each DSP
Take the environmental information of robot perception and the running status of robot, and send various action commands to DSP, and bottom control system
System is made up of the dsp system of four parallel processings such as ultrasonic, infrared, close, positioning and SERVO CONTROL, by CAN, a side
Face completes the signal processing of each sensor, and respective result is sent to top level control computer, on the other hand, in reception
The various control commands of layer control computer, realize positioning and the SERVO CONTROL of mobile robot, in monitoring client, so that
Robot can accept the control of monitoring personnel under special circumstances, needs to set up monitoring system, robot body and monitoring equipment
Between point to point wireless communication is realized by wireless LAN card, complete the real-time, interactive of robot and monitoring personnel；
Robot body is using the controller area network network structure based on CAN, each independent dsp system and upper strata
Reliable, real-time and flexible data communication is can achieve so that top level control computer capacity obtains robot between control computer
The running status of the environmental information of perception and robot is it is convenient to realize robot quick sensing environment and real-time planning action
Purpose.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (8)
1. a kind of autonomous mobile robot communication system based on CAN, including man-machine interaction unit (1) and CAN control
Unit (2) processed, passes through FPGA controller between described man-machine interaction unit (1) and the data link of CAN control unit (2)
(24) be connected with DSP control system (3) it is characterised in that：Described man-machine interaction unit (1) includes WLAN interface
(4), the data terminal of described WLAN interface (4) is connected with wireless communication card (5) and top level control computer (6), no
The outfan of line local area network interface (4) is connected with CAN adapter (41)；Described CAN control unit (2) includes net
Network server (7), the input of the webserver (7) is connected with data base (42), and the data terminal of the described webserver (7) is even
It is connected to data storage cell (8), the webserver (7) is also associated with wireless receiver (9)；Described FPGA controller (24)
Including d GPS locating module (10) and servosystem (11), the outfan of described servosystem (11) and DSP control system (3) phase
Connect, and the data terminal of d GPS locating module (10) be also associated with clock detection module (12), described clock detection module (12) with
DSP control system (3) carries out frequency transformation.
2. a kind of autonomous mobile robot communication system based on CAN according to claim 1 it is characterised in that：
Described WLAN interface (4) includes dual-mode antenna (13), and the data terminal of described dual-mode antenna (13) is connected with network letter
Number detector (14), and the inside of network signal detector (14) is additionally provided with signal encryption module (15), described dual-mode antenna
(13) outfan is also associated with digital-to-analog converter (33).
3. a kind of autonomous mobile robot communication system based on CAN according to claim 1 it is characterised in that：
Described wireless communication card (5) includes remote control Transmit-Receive Unit (16) and remote sensing module (17), described remote control Transmit-Receive Unit (16) defeated
Go out end and be connected with signal amplifier (18), the outfan of described signal amplifier (18) is connected with modem (19), described
Modem (19) is connected to the input/output terminal of remote sensing module (17).
4. a kind of autonomous mobile robot communication system based on CAN according to claim 1 it is characterised in that：
Described CAN adapter (41) includes sensor group (20), and described sensor group (20) passes through power amplifier (21) and letter
Road coding module (22) is connected, and the data terminal of described channel coding module (22) is also associated with time stimulatiom module (23).
5. a kind of autonomous mobile robot communication system based on CAN according to claim 1 it is characterised in that：
Described data storage cell (8) includes data receiver port (25) and networking detector (26), described networking detector (26)
Outfan is connected with register configuration module (28) by asynchronous detection module (27).
6. a kind of autonomous mobile robot communication system based on CAN according to claim 1 it is characterised in that：
Described FPGA controller (24) also includes jtag interface module (29) and functional simulation module (30), described functional simulation module
(30) it is connected with clock depth control block (32) by frequency detecting meter (31), the data terminal of described frequency detecting meter (31)
Feed back to jtag interface module (29).
7. a kind of autonomous mobile robot communication system based on CAN according to claim 1 it is characterised in that：
Described DSP control system (3) includes infrared sensor (34) and photoelectric sensor (35), described infrared sensor (34) and photoelectricity
The outfan of sensor (35) is connected with photoelectric code disk (36), the data terminal of described photoelectric code disk (36) and travel mechanism (37)
It is connected.
8. a kind of autonomous mobile robot communication system based on CAN according to claim 1 it is characterised in that：
Described servosystem (11) includes convolution coder (38), and the outfan of described convolution coder (38) is connected with signal modulation mould
Block (39) and signal demodulation module (40), the outfan of described signal modulation module (39) and signal demodulation module (40) all with
D GPS locating module (10) is connected.
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| CN107194458A (en) * | 2017-05-04 | 2017-09-22 | 天津大学 | Quadruped robot controller based on subthalamic nuclei globus pallidus pacemaker |
| CN108334094A (en) * | 2018-03-06 | 2018-07-27 | 北京工业大学 | A kind of CAN bus communication means for omni-directional mobile robots kinetic control system |
| CN114670204A (en) * | 2022-04-28 | 2022-06-28 | 广州东焊智能装备有限公司 | Industrial robot control system based on intelligent manufacturing production line |
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