Autonomous mobile robot communication system based on CAN bus

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 [0001] The invention relates to the technical field of robot communication systems, in particular to an autonomous mobile robot communication system based on CAN bus. Background technique [0002] With the development of robot technology, people's requirements for robots are no longer limited to a single robot, but more energy is transferred to a system composed of multiple robots. This is not only because some jobs cannot be undertaken by a single robot, but also more More and more cases show that for some dynamic and complex tasks, developing a single robot is far more complicated and expensive than developing a multi-robot system. A system composed of multiple simple robots can complete tasks better than a single complex robot, and the maintainability of the system is greatly improved. In the traditional robot control system, the signal processing of the robot sensor and the servo control of the moving mechanism are completed by a single-chip microcomputer...

AI Technical Summary

Problems solved by technology

[0002] With the development of robot technology, people's requirements for robots are no longer limited to a single robot, but more energy is transferred to a system composed of multiple robots. This is not only because some jobs cannot be undertaken by a single robot, but also more More and more cases show that for some dynamic and complex tasks, developing a single robot is far more complicated and expensive than developing a multi-robot system

A system composed of multiple simple robots can complete tasks better than a single complex robot, and the maintainability of the system is greatly improved. In the traditional robot control system, the signal processing of the robot sensor and the servo control of the moving mechanism are completed by a single-chip microcomputer system. , the planning and decision-making of the robot are realized by the upper-level control computer, and the communication between the upper-level computer and the lower-level modules adopts RS232 or RS485 serial communication. The advantages of this structure are low cost and simple structure. The communication rate is low, it is difficult to adapt to the requirements of the unknown dynamic environment

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