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。
A multithread-based control system was proposed to meet the real-time demands for AGVs （Automated Guided： Vehicle）. The hardware system and the operating principles for the QDU-1 AGV were introduced, and then the multithread techniques under MFC environments were discussed in detail. The basic design flow for multithread technique was presented. Meanwhile, the multithread technique was applied to design the control system according to the difference among variant parts of the AGV. At the last, the man-machine interface was presented too, This navigation system based on machine vision technology successfully fulfilled the technical requirements.
出处
《煤矿现代化》
2008年第4期62-64,共3页
Coal Mine Modernization
关键词
CAN总线
机器人
声纳
数据采集
aulomated guided vehicle
multithread
real-time control
