CN205028112U - Data acquisition system of robot based on hardware reset - Google Patents
Data acquisition system of robot based on hardware reset Download PDFInfo
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- CN205028112U CN205028112U CN201520807800.4U CN201520807800U CN205028112U CN 205028112 U CN205028112 U CN 205028112U CN 201520807800 U CN201520807800 U CN 201520807800U CN 205028112 U CN205028112 U CN 205028112U
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Abstract
The utility model aims at providing a data acquisition system of robot based on hardware reset, including the DSP treater, with logic controller and ADC unit interconnect, logic controller and the interconnection of ADC unit, surveyed the bus, all the way in proper order through CAN transceiver and optoelectronic isolation unit connection DSP treater, another route CAN adapter connection industrial computer, the CAN transceiver can link to each other with the CAN adapter by being surveyed the bus, laser position sensor, IU converting unit, signals regulating unit and filtering unit connect gradually to be connected to the ADC unit. This technical scheme's beneficial effect does: 1, this system adopts CAN bus and host computer communication, full play convenient, the swift advantage of CAN bus. 2, the integrated technology theory is gathered by this system, obtains the appropriate allocation with DSP treater, AD conversion module and adc among the prior art for the system accuracy is high, and is fast, but and simultaneous acquisition multiple signal.
Description
Technical field
The utility model relates to industrial robot control technology field, particularly a kind of robot data collection's system based on hardware reset.
Background technology
Real-time data acquisition and treatment technology are used widely in a lot of fields.In image procossing, transient signal detection, software radio, radar signal analysis, medical imaging modalities and industrial field control, need to carry out synchronous data collection to continually varying simulating signal, therefore, be very important to the signal high-speed a/d collection changed in motion process.In robot field, in large-scale curved steel plate structure parameter measurement robot system, collecting sensor signal is key issue, and this directly has influence on and gathers robot signal transacting and reaction capacity.
Utility model content
The purpose of this utility model is to provide a kind of robot data collection's system based on hardware reset, comprises dsp processor, and andlogic control device and ADC unit are interconnected, meanwhile, and logic controller and ADC cell interconnection;
Tested bus, a road is connected dsp processor through CAN transceiver with Phototube Coupling unit successively, and another route CAN adapter connects industrial computer, and described CAN transceiver can be connected with CAN adapter by tested bus;
Laser position sensors, I/U converter unit, signal adjustment unit and filter unit connect successively, and are connected to ADC unit.
Described dsp processor adopts ADS8364DSP processor.
Described I/U converter unit is Multi-serial port type S7-200PLCA/D modular converter.
Described ADC unit is for adopting XC86610 position analog to digital converter.
The technical program beneficial effect be:
1, this system adopts CAN to communicate with host computer, has given full play to CAN advantage easily and efficiently.
2, this system acquisition integrated technology theory, obtains reasonable disposition by dsp processor of the prior art, A/D modular converter and analog to digital converter, makes system accuracy high, and speed is fast, and can gather multiple signals simultaneously.This data acquisition processing system in the structural parameters measurement of large-scale curved steel plate, facts have proved, stable and reliable operation.
Accompanying drawing explanation
Fig. 1 is network frame schematic diagram of the present utility model;
Fig. 2 is the utility model ADC unit embodiment phantom frame schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the utility model is elaborated.
With reference to Fig. 1, comprise dsp processor 1, andlogic control device 6 and ADC unit 7 are interconnected, and meanwhile, logic controller 6 and ADC unit 7 interconnect;
Tested bus, a road is connected dsp processor 1 through CAN transceiver 3 with Phototube Coupling unit 2 successively, and another route CAN adapter 4 connects industrial computer 5, and described CAN transceiver 4 can be connected with CAN adapter 5 by tested bus;
Laser position sensors 11, I/U converter unit 10, signal adjustment unit 9 and filter unit 8 connect successively, and are connected to ADC unit 7.
Described dsp processor 1 adopts ADS8364DSP processor.
Described I/U converter unit 10 is Multi-serial port type S7-200PLCA/D modular converter.
Described ADC unit 7 is for adopting XC86610 position analog to digital converter.
System Working Principle is: dsp processor 1 receives the order of host computer by CAN sends, the setting of completion system running parameter, and is communicated with ADC unit 7 by simulation address/data bus, sends control command to ADC unit 7; Signal condition is carried out to the multi-analog input of outside, carries out single channel A/D conversion for 7 times at ADC unit, the data collected are stored in 1 Flash chip, and are real-time transmitted to host computer through CAN.
The scope of the analog quantity current input signal that described laser displacement sensor 11 exports is 4 ~ 20mA.Dsp processor 1 analog input voltage scope to be converted should remain between AGND-0.3V and AVDD+0.3V.By 1 accurate sample resistance of 250 Ω, current signal is converted to 1 ~ 5V voltage signal.Improve input impedance by amplifier follow circuit, strengthen the antijamming capability of system.
This acquisition system requires to gather the simulating signal of laser displacement sensor 11, and in view of measuring accuracy requires higher, select high-precision A S7-200PLCA/D modular converter, adopt+5V operating voltage, maximum sampling throughput can up to 5MHz; With fully differential input channel and the analog to digital converter of 6 4s continuous approximations, 6 difference sampling amplifiers of 80dB common mode inhibition; Also with+2.5V reference voltage and high speed parallel interface on sheet.
With reference to Fig. 2, dsp processor 1 primary responsibility is exchanged data by CAN and host computer, is communicated with ADC unit 7 in the mode of address/data bus, realizes the control of data acquisition and carries out front-end digital signal process to the data after sampling.Because measuring system sampling instant is decided by digital control system motion state, therefore, the determination for sampling instant will be carried out the free time in measuring mechanism motion process.Ensure much larger than 2ms, free time ensures that the coordinate of sampling instant other each axles corresponding reflects the true shape data of measurement target.Because the slewing rate of ADS8364 is very fast, after startup A/D conversion, only need wait for that namely 5 μ s can read transformation result, therefore can adopt waiting mode, the stand-by period is greater than 5 μ s and readable data.When real work, the data collected are sent to center processing main frame by intelligent measurement node carries out storing, processing.
Claims (4)
1., based on robot data collection's system of hardware reset, it is characterized in that: comprise
Dsp processor, andlogic control device and ADC unit are interconnected, meanwhile, logic controller and ADC cell interconnection;
Tested bus, a road is connected dsp processor through CAN transceiver with Phototube Coupling unit successively, and another route CAN adapter connects industrial computer, and described CAN transceiver can be connected with CAN adapter by tested bus;
Laser position sensors, I/U converter unit, signal adjustment unit and filter unit connect successively, and are connected to ADC unit.
2. a kind of robot data collection's system based on hardware reset according to claim 1, is characterized in that: described dsp processor adopts ADS8364DSP processor.
3. a kind of robot data collection's system based on hardware reset according to claim 1, is characterized in that: described I/U converter unit is Multi-serial port type S7-200PLCA/D modular converter.
4. a kind of robot data collection's system based on hardware reset according to claim 1, is characterized in that: described ADC unit is for adopting XC86610 position analog to digital converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520807800.4U CN205028112U (en) | 2015-10-19 | 2015-10-19 | Data acquisition system of robot based on hardware reset |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520807800.4U CN205028112U (en) | 2015-10-19 | 2015-10-19 | Data acquisition system of robot based on hardware reset |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205028112U true CN205028112U (en) | 2016-02-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520807800.4U Expired - Fee Related CN205028112U (en) | 2015-10-19 | 2015-10-19 | Data acquisition system of robot based on hardware reset |
Country Status (1)
| Country | Link |
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| CN (1) | CN205028112U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108196549A (en) * | 2017-01-16 | 2018-06-22 | 浙江国自机器人技术有限公司 | One kind is used for submersible AGV laser infrared obstacle avoidance systems |
| CN110336726A (en) * | 2019-07-18 | 2019-10-15 | 贵州大学 | SCM Based CAN bus data acquire structure |
-
2015
- 2015-10-19 CN CN201520807800.4U patent/CN205028112U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108196549A (en) * | 2017-01-16 | 2018-06-22 | 浙江国自机器人技术有限公司 | One kind is used for submersible AGV laser infrared obstacle avoidance systems |
| CN110336726A (en) * | 2019-07-18 | 2019-10-15 | 贵州大学 | SCM Based CAN bus data acquire structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160210 Termination date: 20171019 |
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| CF01 | Termination of patent right due to non-payment of annual fee |