CN203219319U - Snake-shaped robot communication system based on CAN bus having power source isolation property - Google Patents
Snake-shaped robot communication system based on CAN bus having power source isolation property Download PDFInfo
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- CN203219319U CN203219319U CN 201320199338 CN201320199338U CN203219319U CN 203219319 U CN203219319 U CN 203219319U CN 201320199338 CN201320199338 CN 201320199338 CN 201320199338 U CN201320199338 U CN 201320199338U CN 203219319 U CN203219319 U CN 203219319U
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Abstract
The utility model relates to a snake-shaped robot communication system based on a CAN bus having power source isolation property. The snake-shaped robot communication system based on a CAN bus having power source isolation property comprises two differential signal lines, a snakehead node and 25 snake body nodes, wherein each of the snakehead node and the snake body nodes comprises a CAN transceiver, a power source module and a CAN controller-equipped one-chip microcomputer STM32F103B. The one-chip microcomputer communicates with the CAN transceiver and then controls rotation of a steering engine according to communication data. The snakehead node serves as a master controller, the snake body nodes serve as slave controllers, all the nodes are hung on the two CAN signal lines, and therefore a master-slave type communication topological structure is formed. The snake-shaped robot communication system based on a CAN bus having power source isolation property is characterized in that according to a CAN bus protocol, a master-slave type communication system is successfully realized in a robot which is characterized by multiple nodes, multiple degrees of freedom, and large control difficulty. The master-slave type communication system is characterized in that the structure is simple, and data sent by the one snakehead node can be received by the multiple snake body nodes. The he snake-shaped robot communication system based on a CAN bus having power source isolation property is advantaged by strong reliability and practicality.
Description
Technical field
The utility model relates to the snake-shaped robot field of wireless communications, is the communication system between each node of snake-shaped robot of a kind of CAN bus of isolating based on charged source.
Background technology
Bridge is very important part in the Modern Traffic, the bridge form relatively low as a kind of cost, that anti-seismic performance is good, handsome in appearance, and cable-stayed bridge is more and more adopted.The protection of cable steel wire and finished product rope is bad, can cause the inefficacy of cable fracture of wire, corrosion, even lead to great risk and loss, and therefore the cable-stayed bridge that research is relevant detects service equipment, and the raising cable-stayed bridge seems more and more important in the labour time.
The snake of occurring in nature has characteristics such as motion is flexible, adaptability is strong, can make it produce two dimension or three-dimensional motion by selecting different snake-shaped robots joint form for bionical snake-shaped robot.With snake-shaped robot be applied to bridge cable detect can overcome in the traditional detection mode detection efficiency low, detect problem such as cost height, it is many that snake-shaped robot has the joint, the characteristics that the degree of freedom is big, this has all strengthened the difficulty of communicating by letter between each joint of robot.Communication bus commonly used has following four kinds:
One, USART bus
1. can and use the exchanges data of carrying out full duplex between the external equipment of industrial standard NRZ asynchronous serial data form;
2. support synchronous individual event communication to communicate by letter with the half-duplex single line;
3. use the dma mode of many buffer configuration, can realize high-speed data communication.
Number of devices on this bus can only be two, communication distance otherwise greater than 1.5 meters, and do not support to lead more.And the snake-shaped robot joint is many, and the degree of freedom is big, and the snake body length may be greater than 1.5 meters, and each node might send data to all other nodes, namely requires to support to lead, so this kind bus does not meet the snake-shaped robot application requirements more.
Two, spi bus
1. a high speed, full duplex, synchronous communication bus;
2.SPI 4 lines of the general use of interface.
Number of devices on this bus is less than 10, and communication distance otherwise greater than 3 meters needs four line communications, and do not support to lead more.And the snake-shaped robot joint is many, the degree of freedom is big, the snake body length may be greater than 3 meters, line construction complexity own, too many line may influence the robot free movement, and each node might send data to all other nodes, namely requires to support to lead, so this kind bus does not meet the snake-shaped robot application requirements more.
Three, I
2The C bus
1.I
2C is a half-duplex, multi-master bus;
2.I
2C is OD output.
Number of devices on this bus is less than 10, and communication distance otherwise greater than 3 meters, supports to lead more.And the snake-shaped robot joint is many, and the degree of freedom is big, and the snake body length may be greater than 3 meters, so this kind bus does not meet the snake-shaped robot application requirements.
Four, the CAN bus of not charged source isolation
1.CAN bus is main asynchronous serial bus more than;
2.CAN the data communication of bus has outstanding reliability, real-time and flexibility.
This bus is the design feature that number of devices, communication distance or circuit requirement all meet snake-shaped robot, and the CAN bus that not charged source isolates can be because factors such as power supply noise, voltage fluctuation, surge current cause the bad even Communications failure of communication.
The utility model content
The purpose of this utility model provides a kind of snake-shaped robot communication system of CAN bus of isolating based on charged source, realized simultaneously simple in structure, the reliability height, node is many, the requirement of multicast.
For reaching above-mentioned purpose, the utility model adopts following technical scheme:
The snake-shaped robot communication system of the CAN bus of isolating based on charged source, comprise that two two ends are parallel with differential signal line CAN_H4 and CAN_L5,1 snakehead node and 25 snake body nodes of resistance 1, each snake body node comprises a CAN transceiver and a MCU, and one is the power module of CAN transceiver and MCU power supply; Described intra-node adopts MCU and CAN transceiver communications, and MCU rotates according to communication data control steering wheel, and wherein the snakehead node is as master controller, and the conduct of snake body node is from controller, and all nodes all are connected on differential signal line CAN_H and the CAN_L.
Particularly, described CAN transceiver is the ISO1050 chip, and MCU is the STM32F103B chip, and described power module comprises REG114EA-3.3 and the B0305S-1W that connects successively, wherein,
The Vout end of REG114EA-3.3 chip is connected with the Vin end of B0305S-1W chip, the Vcc1 end of ISO1050 chip and the voltage input end of STM32F103B chip respectively;
The B0305S-1W chip+Vo end holds with the Vcc2 of ISO1050 chip and is connected;
CHNH end and the CHNL end of ISO1050 chip are connected with CAN_L with differential signal line CAN_H respectively, and the RXD end of ISO1050 chip and TXD end are connected with CHNRX end and the CHATX end of TM32F103B chip respectively;
Particularly, also be parallel with the capacitor C 3 that strobes between the Vcc1 of described ISO1050 chip end and the GND1 end;
Be provided with resistance R 1 between the CHNRX end of the RXD of described ISO1050 chip end and TM32F103B chip, R1 and a capacitor C 1 in parallel between the GND1 of ISO1050 chip holds;
Be provided with resistance R 2 between the CHNTX end of the TXD of described ISO1050 chip end and TM32F103B chip, R2 and a capacitor C 2 in parallel between the GND1 of ISO1050 chip holds.
Particularly, described REG114EA-3.3 chip input voltage is 8V, a capacitor C 4 in parallel between the GND4 end of the positive pole of this input voltage and REG114EA-3.3 chip, 1 of the positive pole of input voltage and REG114EA-3.3 chip, 2 pins link to each other, GND4 end and 5 of REG114EA-3.3 chip, 6,7,8 pins link to each other, 4 pins of REG114EA-3.3 chip are unsettled, 3 pin draw output 3.3V voltage, 3 pin draw with GND4 end between link to each other with the Vin end of chip B0305S-1W behind shunt capacitance C5 and the C6, the GND4 end links to each other with the GND end of chip B0305S-1W, the B0305S-1W chip-Vo end is connected with GND3, the B0305S-1W chip+output of Vo end is the 5V voltage of reference voltage with GND3, shunt capacitance C7 and resistance R 3 backs are as the supply power voltage of ISO1050 chip between this 5V voltage and the GND3 end.
Snakehead node and snake body node hardware configuration are identical, and just software is different.
With No. 26 lines physical medium as the CAN bus after making twisted-pair feeder, this kind electric wire softness, resistivity is little, and signal disturbs little, and it is many to be suitable as the joint, and build is long, the communication media of the snake-shaped robot of motion gait complexity.
The utility model is compared the beneficial effect that has with background technology: on the cable of cable-stayed bridge, the distinctive multinode of snake-shaped robot when the multiple degrees of freedom structure is done complicated gait motion, can carry out efficiently, and is glitch-free, reliably inter-node communication.
Description of drawings
Fig. 1: system configuration schematic diagram of the present utility model.
Fig. 2: each module connection diagram of the utility model intra-node.
Fig. 3: the utility model intra-node CAN transceiver circuit schematic diagram.
Fig. 4: the utility model intra-node power module circuitry schematic diagram.
Embodiment
As shown in Figure 1, whole network is made up of two differential signal lines, 1 snakehead node and 25 snake body nodes.Wherein snakehead node 2 and each snake body node 3 comprise a CAN transceiver, a power module and a MCU, and wherein power module is CAN transceiver and MCU power supply, MCU and CAN transceiver communications are rotated according to communication data control steering wheel then.The snakehead node is as master controller, and other snake body node is as from controller, and all nodes all hang on the twisted-pair feeder of being made by No. 26 leads.Because communication distance is shorter relatively, the resistance of lead can be ignored, so according to the CAN agreement, the build-out resistor 1 of 120 Ω that respectively connect at the twisted-pair feeder two ends just can constitute two differential signal lines---CAN_H4 and CAN_L5, has so just constituted a complete CAN communication line.
Connect as shown in Figure 2 in each module of each intra-node: input voltage is 8V, at first the voltage of 8V is through a chip REG114EA-3.3, this chip is that output voltage is the step-down chip of 3.3V, the voltage of exporting from chip is 3.3V, reference voltage is made as GND1, and this 3.3V voltage is the control side side power supply of STM32F103B chip and CAN transceiver.Then the voltage of 3.3V is through chip B0305S-1W, and this chip is to be input as the isolated from power chip that 3.3V is output as 5V, and the voltage of output is 5V, and reference voltage is made as GND3, and this 5V voltage is given the bus side side power supply of CAN transceiver.The CAN transceiver 5V side of powering draws that two lines are used for and differential signal line CAN_H4 and CAN_L5 go up other node communications, and the power CAN controller of a side and MCU of 3.3V carries out transfer of data.
CAN transceiver circuit schematic diagram selects the ISO1050 chip as the CAN transceiver as shown in Figure 3, and power pack repeats no more, more than all said very clear.What should be noted that a bit is, in control one side, can a capacitor C 3 in parallel between 3.3V power supply and the GND1, and strobe.Draw single line at this side RXD equally, through resistance R 1, be connected with the CAN controller of MCU then earlier, want simultaneously with GND1 between a capacitor C 1 in parallel, doing so also is for filtering, communication quality between assurance CAN controller and the CAN transceiver.3.3V and 5V power supply that why the transceiver both sides are selected to isolate are mutually powered, be because the bus side side of ISO1050 and control lateral circuit are separate, adopt the power supply power supply of isolating mutually can avoid controlling the side power supply noise or fluctuate bus side side CAN signal is exerted an influence, cause signal transmission errors.
Power module circuitry as shown in Figure 4, described REG114EA-3.3 chip input voltage is 8V, a capacitor C 4 in parallel between the GND4 end of the positive pole of this input voltage and REG114EA-3.3 chip, 1 of the positive pole of input voltage and REG114EA-3.3 chip, 2 pins link to each other, GND4 end and 5 of REG114EA-3.3 chip, 6,7,8 pins link to each other, 4 pins of REG114EA-3.3 chip are unsettled, 3 pin draw output 3.3V voltage, 3 pin draw with GND4 end between link to each other with the Vin end of chip B0305S-1W behind shunt capacitance C5 and the C6, the GND4 end links to each other with the GND end of chip B0305S-1W, the B0305S-1W chip-Vo end is connected with GND3, the B0305S-1W chip+output of Vo end is the 5V voltage of reference voltage with GND3, shunt capacitance C7 and resistance R 3 backs are as the supply power voltage of ISO1050 chip, this voltage and 8V before between this 5V voltage and the GND3 end, 3.3V voltage has the effect of mutual isolation.
The utility model only need namely communicate between snakehead node 2 and the snake body node 3 at master controller and between the controller, does not need communication between each snake body node 2.First mailbox FIFO0 of each node is made as receiving mode, and its indications from the 0000H of the FIFO0 of snakehead node 2, increases progressively successively up to the 001AH of the FIFO0 of the 25th snake body node 3.In addition, second mailbox FIFO1 of each node is made as sending mode, and its indications increases progressively successively from the 003AH of the FIFO1 of 25 snake body nodes of 0020H to the of the FIFO1 of snakehead node.When the CAN of snakehead node controller is issued the CAN transceiver with data, transceiver and then data are put on the CAN bus, this moment, all snake body nodes 3 were all received these data, then extracting in the data indications compares with self indications, if difference then abandon, if these data of sending to oneself just of identical explanation are interrupted so produce, central processing unit and then generation corresponding actions.
Concrete communication process:
(1) snakehead node 2 controllers transmit data to transceiver, and these data can be the information reading orders to snake body node 3, also can be control commands.
(2) transceiver becomes the short frame ordering of bus with data translation, is sent on the bus.
(3) all snake body nodes 3 are all received these data, and then extract the indications that comprises in the frame and the comparison of self indications, if difference then abandon, the identical interrupt notification MCU that then produces produces corresponding actions.
(4) node of confirming to receive data sends to bus and replys, if the response message that snakehead node 2 is received is not right, then resends this frame.
(5) if the snake body node receives is the information reading order, then corresponding information is sent to snakehead node 2 by above step.
(6) snakehead node 2 also can send response message after receiving data.If the response message that the snake body node is received is not right, then resend this frame.
(7) if above process of transmitting is all errorless, then this communication process is finished.
(8) if do not receive yet through certain time-delay after certain frame sends and reply, then can retransmit this frame.
(9) if continuous retransmission is not all received for three times replys, think that then destination node breaks down, can report to the police or directly destination node be masked this moment.
Above-mentioned implementation is the utility model preferred implementation; but execution mode of the present utility model is not subjected to the restriction of above-mentioned implementation; other any do not deviate from change, the modification done under spiritual essence of the present utility model and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within the protection range of the present utility model.
Claims (4)
1. the snake-shaped robot communication system of the CAN bus of isolating based on charged source, it is characterized in that: comprise that two two ends are parallel with differential signal line CAN_H4 and CAN_L5,1 snakehead node and 25 snake body nodes of resistance 1, each snake body node comprises a CAN transceiver and a MCU, and one is the power module of CAN transceiver and MCU power supply; Described intra-node adopts MCU and CAN transceiver communications, and MCU rotates according to communication data control steering wheel, and wherein the snakehead node is as master controller, and the conduct of snake body node is from controller, and all nodes all are connected on differential signal line CAN_H and the CAN_L.
2. the snake-shaped robot communication system of CAN bus of isolating based on charged source according to claim 1, it is characterized in that: described CAN transceiver is the ISO1050 chip, MCU is the STM32F103B chip, described power module comprises REG114EA-3.3 and the B0305S-1W that connects successively, wherein
The Vout end of REG114EA-3.3 chip is connected with the Vin end of B0305S-1W chip, the Vcc1 end of ISO1050 chip and the voltage input end of STM32F103B chip respectively;
The B0305S-1W chip+Vo end holds with the Vcc2 of ISO1050 chip and is connected;
CHNH end and the CHNL end of ISO1050 chip are connected with CAN_L with differential signal line CAN_H respectively, and the RXD end of ISO1050 chip and TXD end are connected with CHNRX end and the CHATX end of TM32F103B chip respectively.
3. the snake-shaped robot communication system of CAN bus of isolating based on charged source according to claim 2 is characterized in that:
Also be parallel with the capacitor C 3 that strobes between the Vcc1 end of described ISO1050 chip and the GND1 end;
Be provided with resistance R 1 between the CHNRX end of the RXD of described ISO1050 chip end and TM32F103B chip, R1 and a capacitor C 1 in parallel between the GND1 of ISO1050 chip holds;
Be provided with resistance R 2 between the CHNTX end of the TXD of described ISO1050 chip end and TM32F103B chip, R2 and a capacitor C 2 in parallel between the GND1 of ISO1050 chip holds.
4. the snake-shaped robot communication system of CAN bus of isolating based on charged source according to claim 3, it is characterized in that: described REG114EA-3.3 chip input voltage is 8V, a capacitor C 4 in parallel between the GND4 end of the positive pole of this input voltage and REG114EA-3.3 chip, 1 of the positive pole of input voltage and REG114EA-3.3 chip, 2 pins link to each other, GND4 end and 5 of REG114EA-3.3 chip, 6,7,8 pins link to each other, 4 pins of REG114EA-3.3 chip are unsettled, 3 pin draw output 3.3V voltage, 3 pin draw with GND4 end between link to each other with the Vin end of chip B0305S-1W behind shunt capacitance C5 and the C6, the GND4 end links to each other with the GND end of chip B0305S-1W, the B0305S-1W chip-Vo end is connected with GND3, the B0305S-1W chip+output of Vo end is the 5V voltage of reference voltage with GND3, shunt capacitance C7 and resistance R 3 backs are as the supply power voltage of ISO1050 chip between this 5V voltage and the GND3 end.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104102205A (en) * | 2014-07-10 | 2014-10-15 | 精技电子（南通）有限公司 | Multi-module bus control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104102205A (en) * | 2014-07-10 | 2014-10-15 | 精技电子（南通）有限公司 | Multi-module bus control system and method |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130925 Effective date of abandoning: 20160413 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |