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CAN总线在移动机器人中的应用

Application of CAN- Bus for mobile robots
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摘要 移动机器人多路超声波传感器分别与中央处理器连接存在着数据线过多、中央处理器负担过重的问题,因此提出了基于CAN(Controller Area Network)总线的测距系统,设计了机器人的超声波测距系统的CAN总线硬件节点和软件结构,包括SJA1000 CAN控制器及其初始化,CAN控制器数据接收程序和CAN控制器数据发送程序,并且讨论了数据发送过程。 Since the shortages of computing burden for center processing unit and the disordered cables distribution existing in the multi-loop ultrasonic system for mobile robots, a novel CAN （ Controller Area Network ） bus based range measurement system was designed in this paper. The hardware architecture and the flow chart of software for CAN bus system was discussed, including the SJA1000 CAN controller and its initialization, the data receiving and sending programs, and the process of sending data in the module.
作者 姚芝凤 戴学丰
机构地区 齐齐哈尔大学计算机与控制工程学院
出处 《齐齐哈尔大学学报（自然科学版）》 2009年第6期16-19,共4页 Journal of Qiqihar University(Natural Science Edition)
基金 黑龙江省教育厅科研项目资助(11541389)
关键词 CAN总线 CAN控制器 移动机器人 超声波传感器 CAN-bus CAN controller mobile robots ultrasonic sensors
分类号 TP273.5 [自动化与计算机技术—检测技术与自动化装置]
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共引文献62

齐齐哈尔大学学报（自然科学版）
2009年 第6期

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