Communication system for unmanned pusher

Abstract

A communication system for unmanned rakes, comprising a motion control communication part, an image communication part and a communication part between modules, the motion control communication part is used to control the motion of the raker, and in the motion control communication part, the PLC sends control commands; the image communication part is used to feed back the position and attitude of the pusher to the center console and send key parameters to the path and positioning and mapping modules; the communication part between modules adopts ROS's topic communication mechanism and thread shared memory Mechanism that simplifies a module into a process, creates a shared memory area, creates objects that perform specified functions in the module, and each object obtains data from the shared memory. The invention combines the ROS-specific topic communication mechanism, socket network communication, PLC communication and serial communication to ensure the high efficiency and correctness of data interaction between modules.

Description

technical field [0001] The invention belongs to the field of unmanned rakes, and in particular relates to a communication system based on ROS (Robot Operating System), which combines the communication mode under ROS, network communication, serial communication and PLC communication, and controls the planned control path. , and send it to PLC to control the push rake through network communication, and feedback the status and position information of the push rake to the center console for display. Background technique [0002] With the rapid development of my country's economy and the development of large-scale engineering projects, push rakes have been highly valued as a widely used construction machinery. Because the working environment of the push rake is complex and requires the operator to have high technical literacy, and the long-term repeated operation of a series of control actions, not only the work intensity is high, but also easy to make people feel boring and easy...

AI Technical Summary

Problems solved by technology

Due to the different communication methods between the various modules, it is impossible to control the movement of the rake and feed back the real-time feedback of the rake to the central control for display.

[0005] The existing communication technology scheme is to send the control plan made by the path module to the PLC through the network communication, so that each control command takes a long time to issue, and the communication frequency is low

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