基于CAN总线的农业移动机器人分布式控制网络

Distributed Control Network for CAN-based Autonomous Agricultural Robot

在全向移动式农业机器人上引入基于CAN总线的分布式控制网络。阐述了机器人平台的CAN总线通讯网络的组成,下位机节点控制器的硬件和软件设计以及上下位机间通信协议的制定。通过信息的发送、接收测试表明,CAN总线通讯网络可用于农业机器人的分布式控制,可提高整个机器人系统的开放性和实时性。

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.