缆索检测蛇形机器人控制系统设计  

Control System Design of Snake-like Robot for Cable Detection

作　　者：王健[1] 魏武[1] 

机构地区：[1]华南理工大学自动化科学与工程学院,广东广州510640

出　　处：《计算机测量与控制》2010年第10期2312-2314,2322,共4页Computer Measurement &Control

摘　　要：提出了一种基于OMAP3530微控制器和CAN总线的缆索检测蛇形机器人的设计方法,详细分析了蛇形机器人应用目的与应用环境,搭建了基于CAN总线和无线局域网的蛇形机器人多级分布式控制系统,在此基础上优化了通信协议,制定了CAN协议下的数据滤波规则和数据包分割与重组协议,提高了总线的利用率、实时性和稳定性,增强了系统的可扩展性。Proposed a design method for cable detection based on OMAP3530 micro-controller and CAN bus,having a detailed analysis of the snake-like robot application purpose and application environment.Had built a snake-like robot control system based on CAN bus and sensor network architecture.On this basis,optimized communication protocol,developed a data packet filtering rules and an agreement for data packet segmentation and restructuring under the CAN agreement.This improved bus utilization,real-time and stability of the bus,also enhanced the scalability of the system.

关 键 词：缆索检测 CAN总线 蛇形机器人 数据滤波 

分 类 号：TP274.4[自动化与计算机技术—检测技术与自动化装置]