基于双总线构架的巡线机器人分布式控制系统  

A distributed control system based on dual-bus frame for power-line-inspection robot

作　　者：毛吉贵 白玉成[2] 肖清明 吴功平[2] 

机构地区：[1]宁夏自治区电力公司吴忠供电局,宁夏吴忠751100 [2]武汉大学动力与机械学院,湖北武汉430072

出　　处：《武汉大学学报（工学版）》2012年第3期379-384,共6页Engineering Journal of Wuhan University

摘　　要：提出一种基于双总线构架的巡线机器人分布式控制系统,该系统基于CAN总线和以太网总线的双层总线构架,CAN总线是一种实时低速通信总线,在机器人中主要负责底层控制节点的信息交互,如运动控制系统、传感器数据采集系统、电池管理系统等.以太网总线主要负责机器人系统图像采集设备、主处理器、地面控制基站、远程控制中心等设备的信息交互与共享.本系统无线通信技术采用统一的、开放的技术平台,使得该项技术与时代的发展保持同步.另外,采用这样一种总线构架,使得机器人系统扩展性强、可靠性高.A distributed control system for power-line-inspection robot is put forward based on dual-bus frame.This system consists of two layer bus including CAN bus and Ethernet bus.CAN bus is used as communication between the lower layer joint,such as motion control,the data collection system and battery management.Ethernet bus is used as the top layer communication between the images collection devices,the main process unit,the ground control station.In this system,the uniform and opening technology are used on the wireless communication system,which keeps the robot communication technology synchronization with the development of commercial correspondence.The robot control system frame has many advantages,such as stronger expansibility and higher reliability.

关 键 词：输电线路 机器人 总线 控制 分布式 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TM755[自动化与计算机技术—控制科学与工程]