【摘要】 根据自主移动机器人实时导航的需要,提出了一种基于CAN总线的移动机器人声纳数据采集系统。针对自主移动机器人的工作特点,利用CAN总线技术,设计了多声纳传感器的数据采集系统。实现了机器人数据采集的网络化,降低了系统的连线数量,提高系统的可维护性。同时确定了该系统和工控机之间的CAN总线通信协议,并给出了系统硬件框图和软件流程图。实验表明,该系统具有较高的实用价值及较高的可靠性、实时性。更多还原

【Abstract】 An automatic mobile robot sonar data acquisition system based on CAN-bus is proposed to meet demands for real time navigation of mobile robot.Considering the characteristics of the mobile robot,a multi-sonar sensor data acquisition system is designed based on CAN-bus technology.By using this technology,the amount of system connections can be largely decreased and the system maintenance is easier.The communication protocols between data acquisition system and industrial computer,system hardware chart and software flow chart are given in the paper.The experimental result shows that the system has higher value of practicability and higher reliability and working efficiency.更多还原