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基于CAN總線的農(nóng)業(yè)移動機(jī)器人分布式控制網(wǎng)絡(luò)
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    摘要:

    在全向移動式農(nóng)業(yè)機(jī)器人上引入基于CAN總線的分布式控制網(wǎng)絡(luò)。闡述了機(jī)器人平臺的CAN總線通訊網(wǎng)絡(luò)的組成，下位機(jī)節(jié)點(diǎn)控制器的硬件和軟件設(shè)計以及上下位機(jī)間通信協(xié)議的制定,。通過信息的發(fā)送,、接收測試表明，CAN總線通訊網(wǎng)絡(luò)可用于農(nóng)業(yè)機(jī)器人的分布式控制，可提高整個機(jī)器人系統(tǒng)的開放性和實(shí)時性,。

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    CAN bus makes control system of agricultural machine networked, intelligent, and distributed because of its high data transmission rate, reliability and expandability. Distributed control network for CAN-based autonomous agricultural robot was designed. The objective was to present 4WD/4WS robot system structure and hardware structure and software design of CAN network in detail, and to prove it to be feasible that a controller area network (CAN bus) as the basis of an autonomous agricultural robot by the test of sending and receiving messages. Tests showed that CAN bus network could increase open and real-time of the robot system.

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安秋,姬長英,周俊,趙先雷.基于CAN總線的農(nóng)業(yè)移動機(jī)器人分布式控制網(wǎng)絡(luò)[J].農(nóng)業(yè)機(jī)械學(xué)報,2008,39(6):123-126.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(6):123-126.

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