Snake robot communication system based on CAN bus with power isolation

Abstract

The invention relates to a snake-shaped robot communication system based on a CAN bus with power supply isolation. The system comprises two differential signal lines, a snake head node and 25 snake body nodes, wherein the snake head node and each snake body node are respectively provided with a CAN transceiver, a power supply module and a single chip computer STM32F103B with a CAN controller. Each single chip computer communicates with each CAN transceiver and controls a servo to rotate according to communication data. The snake head node serves as a main controller, the snake body nodes serve as auxiliary controllers, and all nodes are hung on two CAN signal lines to form a master-slave communication topological structure. According to a CAN bus protocol, a master-slave communication system which is simple in structure and one-transmitting-multiple-receiving is successfully achieved on a robot which is multi-node, multi-degree-of-freedom and large in control difficulty. The snake-shaped robot communication system is strong in reliability and practicality.

Description

technical field [0001] The invention relates to the field of snake-like robot communication systems, and relates to a communication system between nodes of a snake-like robot based on a CAN bus with power supply isolation. Background technique [0002] Bridge is a very important part of modern transportation. As a bridge form with relatively low cost, good seismic performance and beautiful appearance, cable-stayed bridge is being used more and more. However, poor protection of cable steel wires and finished cables will cause cable breakage, failure, rust and corrosion, and even cause huge risks and losses. important. [0003] Snakes in nature have the characteristics of flexible movement and strong adaptability. For bionic snake robots, different joint forms of snake robots can be selected to make them produce two-dimensional or three-dimensional motions. Applying snake-shaped robots to bridge cable detection can overcome the problems of low detection efficiency and high d...

AI Technical Summary

Problems solved by technology

[0011] 2. The SPI interface generally uses 4 lines

The snake-shaped robot has many joints and a large degree of freedom, and the length of the snake body may be greater than 3 meters, so this kind of bus does not meet the application requirements of the snake-shaped robot.

[0017] 4. CAN bus without power isolation

[0020] This kind of bus conforms to the structural characteristics of the snake robot in terms of the number of components, communication distance and line requirements, but the CAN bus without power isolation will cause poor communication or even communication failure due to factors such as power noise, voltage fluctuations, and surge currents.

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