基于巡检移动机器人运动控制的CAN总线通信技术研究
Research on CAN Bus Communication Technology Based on Motion Control of Inspection Mobile Robots
黄书益 1杨浩元 1吴祖斌 1林师师 1杜越1
作者信息
- 1. 国家能源集团乐东发电有限公司,海南 乐东 572500
- 折叠
摘要
在现代工业应用中,巡检移动机器人凭借其自动化和智能化的特点,已广泛应用于设备监控与维护领域.这些机器人的有效运作依赖于高效的控制系统和可靠的通信技术.其中,控制器局域网(Controller Area Network,CAN)总线技术因其高可靠性和实时性,在机器人通信系统中占据重要地位.文章详细分析巡检机器人的运动控制需求,并基于这些需求设计针对性的CAN总线通信方案,包括网络结构、数据帧格式以及通信协议和错误处理机制.
Abstract
In modern industrial applications,inspection mobile robots,with their automation and intelligence features,have been widely used in the field of equipment monitoring and maintenance.The effective operation of these robots relies on efficient control systems and reliable communication technology.Among them,Controller Area Network(CAN)bus technology occupies an important position in robot communication systems due to its high reliability and real-time performance.This paper analyzes in detail the motion control requirements of inspection robots and designs a specialized CAN bus communication scheme based on these requirements,including network structure,data frame format,communication protocols,and error handling mechanisms.
关键词
巡检移动机器人/运动控制/控制器局域网(CAN)总线通信技术Key words
inspection mobile robot/motion control/Controller Area Network(CAN)bus communication technology引用本文复制引用
出版年
2024
NETL
NSTL
万方数据