CN206559382U - Robot C AN communication systems based on microcontroller - Google Patents
Robot C AN communication systems based on microcontroller Download PDFInfo
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- CN206559382U CN206559382U CN201720323153.9U CN201720323153U CN206559382U CN 206559382 U CN206559382 U CN 206559382U CN 201720323153 U CN201720323153 U CN 201720323153U CN 206559382 U CN206559382 U CN 206559382U
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Abstract
The utility model embodiment discloses a kind of robot C AN communication systems patch optics mould version instrument based on microcontroller, including man-machine interaction unit and CAN control unit, DSP control system is connected with by FPGA controller between the data link of the man-machine interaction unit and CAN control unit, the man-machine interaction unit includes WLAN interface, and the output end of the WLAN interface is connected with CAN adapter；The CAN control unit includes the webserver, and the webserver is connected with wireless receiver；The FPGA controller includes d GPS locating module and servo-drive system, and the output end of the servo-drive system is connected with DSP control system, and the clock detection module carries out frequency transformation with DSP control system.The utility model embodiment each realizes reliable, real-time and flexible data communication by using the controller area network network structure based on CAN between independent dsp system and top level control computer.
Description
Technical field
The utility model is related to robot communication systems technology field, specially a kind of robot based on microcontroller
CAN communication system.
Background technology
With the development of robot technology, requirement of the people to robot is no longer limited to individual machine people, and will be more
Energy be transferred in the system of multiple robots composition, it is that individual machine people can not undertake to be not only because some work
, and increasing example shows, for the strong and complicated task of some dynamics, and exploitation individual machine people is more than opening
Send out multi-robot system complicated and expensive.The system constituted using multiple simple machine people can be more preferable than single complex machines people
Ground completes task, and system maintainability is substantially increased, in traditional robot control system, robot sensor signal
The SERVO CONTROL of processing and travel mechanism is not completed using SCM system, and the planning and decision-making of robot are calculated by top level control
Machine realizes that the communication of top level computer and lower module uses RS232 or RS485 serial communication modes, the advantage of this structure
It is that cost is low, simple in construction, major defect is signal transacting and poor arithmetic ability, and traffic rate is low, it is difficult to adapt to unknown dynamic
The requirement of environment.
Utility model content
The utility model embodiment technical problem to be solved is to provide a kind of robot C AN based on microcontroller and led to
News system, the stability of a system is high, and data transmission bauds is fast.
In order to solve the above technical problems, the utility model embodiment provides following technical scheme：One kind is based on microcontroller
The robot C AN communication systems of device, including man-machine interaction unit and CAN control unit, the man-machine interaction unit and CAN
DSP control system, the man-machine interaction unit bag are connected with by FPGA controller between the data link of bus control unit
WLAN interface is included, the data terminal of the WLAN interface is connected with wireless communication card and top level control is calculated
Machine, the output end of WLAN interface is connected with CAN adapter；The CAN control unit takes including network
Business device, the input of the webserver is connected with database, and the data terminal of the webserver is connected with data storage cell,
The webserver is also associated with wireless receiver；The FPGA controller includes d GPS locating module and servo-drive system, described
The output end of servo-drive system is connected with DSP control system, and the data terminal of d GPS locating module is also associated with clock detection mould
Block, the clock detection module carries out frequency transformation with DSP control system.
Further, the WLAN interface includes dual-mode antenna, and the data terminal of the dual-mode antenna is connected with
Network signal detector, and the inside of network signal detector is additionally provided with signal encryption module, the output of the dual-mode antenna
End is also associated with digital-to-analog converter.
Further, the wireless communication card includes remote control Transmit-Receive Unit and remote sensing module, the remote control Transmit-Receive Unit
Output end is connected with signal amplifier, and the output end of the signal amplifier is connected with modem, the modem
It is connected to the input/output terminal of remote sensing module.
Further, the CAN adapter includes sensor group, and the sensor group passes through power amplifier and letter
Road coding module is connected, and the data terminal of the channel coding module is also associated with time stimulatiom module.
Further, the data storage cell includes data receiver port and networking detector, the networking detector
Output end be connected by asynchronous detection module with register configuration module.
Further, the FPGA controller also includes jtag interface module and functional simulation module, the functional simulation
Module is connected by frequency detecting meter with clock depth control block, and the data terminal of the frequency detecting meter feeds back to JTAG and connect
Mouth mold block.
Further, the DSP control system includes infrared sensor and photoelectric sensor, the infrared sensor and light
The output end of electric transducer is connected with photoelectric code disk, and the data terminal of the photoelectric code disk is connected with travel mechanism.
Further, the servo-drive system includes convolution coder, and the output end of the convolution coder is connected with signal
Modulation module and signal demodulation module, the output end of the signal modulation module and signal demodulation module is and d GPS locating module
It is connected.
By using above-mentioned technical proposal, the utility model embodiment has the beneficial effect that：The utility model embodiment
By the way that system is made up of embedded industrial control computer, CAN adapter, wireless communication card, image pick-up card etc., it
It is main to complete two parts function：One is system initialization, system diagnostics and error reporting, trajectory planning, navigation and avoidance；Two are
System telecommunication management；On the one hand the man-machine interaction with monitoring client is completed by wireless network；On the other hand by CAN with
DSP is communicated, and the environmental information of robot perception and the running status of robot is obtained from each DSP, and send various to DSP
Action command, final control system by ultrasonic, infrared, close four parallel processings of positioning and SERVO CONTROL etc. dsp system group
Into.By CAN, the signal transacting of each sensor is on the one hand completed, and respective result is sent to top level control meter
Calculation machine, data transmission bauds is fast；On the other hand, the various control commands of top level control computer are received, mobile robot is realized
Positioning and SERVO CONTROL, in monitoring client, in order that robot can receive the control of monitoring personnel under special circumstances,
Need to set up monitoring system, point to point wireless communication is realized by wireless LAN card between robot body and monitoring equipment, it is complete
Into robot and the real-time, interactive of monitoring personnel.
Brief description of the drawings
The structural representation of the robot C AN communication system one embodiment based on microcontroller that is the utility model that Fig. 1 is
Figure.
Embodiment
The application is described in further detail with specific embodiment below in conjunction with the accompanying drawings.It should be appreciated that following signal
Property embodiment and illustrate only to be used for explaining the utility model, be not intended as limiting of the present utility model, moreover, not conflicting
In the case of, the feature in embodiment and embodiment in the application can be combined with each other.
As shown in figure 1, the utility model one embodiment provides a kind of robot C AN communications system based on microcontroller
System, including man-machine interaction unit 1 and CAN control unit 2, the man-machine interaction unit 1 and CAN control unit 2
DSP control system 3 is connected with by FPGA controller 24 between data link, the man-machine interaction unit 1 includes wireless local
Network interface 4, the WLAN interface 4 includes dual-mode antenna 13, and the data terminal of the dual-mode antenna 13 is connected with net
Network signal detector 14, and the inside of network signal detector 14 is additionally provided with signal encryption module 15, the dual-mode antenna 13
Output end be also associated with digital-to-analog converter 33, the data terminal of the WLAN interface 4 is connected with the He of wireless communication card 5
Top level control computer 6, the wireless communication card 5 includes remote control Transmit-Receive Unit 16 and remote sensing module 17, and the remote control transmitting-receiving is single
The output end of member 16 is connected with signal amplifier 18, and the output end of the signal amplifier 18 is connected with modem 19, institute
The input/output terminal that modem 19 is connected to remote sensing module 17 is stated, the output end of WLAN interface 4 is connected with CAN
Bus adapter 41, the CAN adapter 41 includes sensor group 20, and the sensor group 20 passes through power amplifier 21
It is connected with channel coding module 22, the data terminal of the channel coding module 22 is also associated with time stimulatiom module 23；It is described
CAN control unit 2 includes the webserver 7, and the input of the webserver 7 is connected with database 42, the network clothes
The data terminal of business device 7 is connected with data storage cell 8, and the data storage cell 8 includes data receiver port 25 and networking is examined
Device 26 is surveyed, the output end of the networking detector 26 is connected by asynchronous detection module 27 with register configuration module 28, net
Network server 7 is also associated with wireless receiver 9；The FPGA controller 24 also includes jtag interface module 29 and function is imitative
True module 30, the functional simulation module 30 is connected by frequency detecting meter 31 with clock depth control block 32, the frequency
The data terminal of rate detection meter 31 feeds back to jtag interface module 29, and the FPGA controller 24 includes d GPS locating module 10 and watched
Dress system 11, the servo-drive system 11 includes convolution coder 38, and the output end of the convolution coder 38 is connected with signal tune
Molding block 39 and signal demodulation module 40, the output end of the signal modulation module 39 and signal demodulation module 40 are fixed with GPS
Position module 10 is connected, and the output end of the servo-drive system 11 is connected with DSP control system 3, and the number of d GPS locating module 10
Clock detection module 12 is also associated with according to end, the clock detection module 12 carries out frequency transformation with DSP control system 3, described
DSP control system 3 include infrared sensor 34 and photoelectric sensor 35, the infrared sensor 34 and photoelectric sensor 35 it is defeated
Go out end with photoelectric code disk 36 to be connected, the data terminal of the photoelectric code disk 36 is connected with travel mechanism 37.
In one alternate embodiment, the top level computer 6 realizes the communication between monitoring equipment and mobile robot, bag
Transmission of video, control command transmission and the sensor data transmission between monitoring equipment and mobile robot are included, can be to moving machine
Some parameter settings, the monitoring of state and the conversion of device people, Data Detection and mobile control function are adjusted.
In one alternate embodiment, 16 sonacs, the survey of each sonac are had in the dsp system
Stored away from value in DSP with two bytes, having 32 bytes and store all distance measurement values, thus transmit all distance measurement values needs 4
Individual data frame could have been transmitted；16 infrared sensors and 16 proximity transducers take two bytes respectively, each representative
Two sensor informations, in the specific implementation, 1 represents to detect barrier, and 0 represents no barrier；Positioning and SERVO CONTROL
Dsp system is to the current various running statuses of the computer distribution of machine people of upper strata control system, such as work of robot currently
Direction, mileage, cell voltage that mode, the speed of service, acceleration and robot are moved etc., needs 4 data frames to pass altogether
Send.
The operation principle of robot C AN communication system of the utility model based on microcontroller is as follows：
System is made up of embedded industrial control computer, CAN adapter, wireless communication card, image pick-up card etc.,
It mainly completes two parts function:Two be system initialization, system diagnostics and error reporting, trajectory planning, navigation and avoidance:Two
System telecommunication management, on the one hand by wireless network complete with the man-machine interaction of monitoring client, on the other hand by CAN with
DSP is communicated, and the environmental information of robot perception and the running status of robot is obtained from each DSP, and send various to DSP
Action command, and final control system is by the dsp system of four parallel processings such as ultrasonic, infrared, close, positioning and SERVO CONTROL
Composition, by CAN, on the one hand completes the signal transacting of each sensor, and respective result is sent to top level control
Computer, 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, system is monitored in order that obtaining robot and can receive the control of monitoring personnel under special circumstances, it is necessary to set up
System, point to point wireless communication is realized between robot body and monitoring equipment by wireless LAN card, completes robot and monitoring
The real-time, interactive of personnel；
Robot body uses the controller area network network structure based on CAN, each independent dsp system and upper strata
Reliable, real-time and flexible data communication can be achieved between control computer so that top level control computer capacity obtains robot
The environmental information of perception and the running status of robot, it is convenient to realize robot quick sensing environment and real-time planning action
Purpose.
Particular embodiments described above, has carried out entering one to the purpose of this utility model, technical scheme and beneficial effect
Step is described in detail, be should be understood that and be the foregoing is only specific embodiment of the utility model, is not used to limit this
The protection domain of utility model, it is all within spirit of the present utility model and principle, any modification for being made, equivalent substitution, change
Enter, should be included within protection domain of the present utility model.
Claims (8)
1. a kind of robot C AN communication systems based on microcontroller, including man-machine interaction unit and CAN control unit,
DSP controls system is connected with by FPGA controller between the data link of the man-machine interaction unit and CAN control unit
System, it is characterised in that；The man-machine interaction unit includes WLAN interface, the data of the WLAN interface
End is connected with wireless communication card and top level control computer, and the output end of WLAN interface is connected with CAN adaptation
Card；The CAN control unit includes the webserver, and the input of the webserver is connected with database, the network
The data terminal of server is connected with data storage cell, and the webserver is also associated with wireless receiver；The FPGA controls
Device processed includes d GPS locating module and servo-drive system, and the output end of the servo-drive system is connected with DSP control system, and GPS is fixed
The data terminal of position module is also associated with clock detection module, and the clock detection module carries out frequency transformation with DSP control system.
2. a kind of robot C AN communication systems based on microcontroller according to claim 1, it is characterised in that：It is described
WLAN interface includes dual-mode antenna, and the data terminal of the dual-mode antenna is connected with network signal detector, and network
The inside of signal detector is additionally provided with signal encryption module, and the output end of the dual-mode antenna is also associated with digital-to-analog converter.
3. a kind of robot C AN communication systems based on microcontroller according to claim 1, it is characterised in that：It is described
Wireless communication card includes remote control Transmit-Receive Unit and remote sensing module, and the output end of the remote control Transmit-Receive Unit is connected with signal amplification
Device, the output end of the signal amplifier is connected with modem, and the modem is connected to the input of remote sensing module
Output end.
4. a kind of robot C AN communication systems based on microcontroller according to claim 1, it is characterised in that：It is described
CAN adapter includes sensor group, and the sensor group is connected by power amplifier with channel coding module, described
The data terminal of channel coding module is also associated with time stimulatiom module.
5. a kind of robot C AN communication systems based on microcontroller according to claim 1, it is characterised in that：It is described
Data storage cell includes data receiver port and networking detector, and the output end of the networking detector passes through asynchronous detection mould
Block is connected with register configuration module.
6. a kind of robot C AN communication systems based on microcontroller according to claim 1, it is characterised in that：It is described
FPGA controller also include jtag interface module and functional simulation module, the functional simulation module by frequency detecting meter and when
Clock depth control block is connected, and the data terminal of the frequency detecting meter feeds back to jtag interface module.
7. a kind of robot C AN communication systems based on microcontroller according to claim 1, it is characterised in that：It is described
DSP control system includes infrared sensor and photoelectric sensor, the output end and light of the infrared sensor and photoelectric sensor
Code disc is connected, and the data terminal of the photoelectric code disk is connected with travel mechanism.
8. a kind of robot C AN communication systems based on microcontroller according to claim 1, it is characterised in that：It is described
Servo-drive system includes convolution coder, and the output end of the convolution coder is connected with signal modulation module and signal solution mode transfer
Block, the signal modulation module is connected with the output end of signal demodulation module with d GPS locating module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720323153.9U CN206559382U (en) | 2017-03-29 | 2017-03-29 | Robot C AN communication systems based on microcontroller |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444491A (en) * | 2016-09-14 | 2017-02-22 | 芜湖扬展新材料科技服务有限公司 | Autonomous mobile robot communication system based on CAN bus |
| CN109101028A (en) * | 2018-08-28 | 2018-12-28 | 郑州航空工业管理学院 | A kind of rail mounted crusing robot long distance wireless driving control system |
-
2017
- 2017-03-29 CN CN201720323153.9U patent/CN206559382U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444491A (en) * | 2016-09-14 | 2017-02-22 | 芜湖扬展新材料科技服务有限公司 | Autonomous mobile robot communication system based on CAN bus |
| CN109101028A (en) * | 2018-08-28 | 2018-12-28 | 郑州航空工业管理学院 | A kind of rail mounted crusing robot long distance wireless driving control system |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171013 Termination date: 20210329 |
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| CF01 | Termination of patent right due to non-payment of annual fee |