激光测量机器人数据同步采集系统设计

Design of Data Synchronous Acquisition System for Laser Measurement Robot

为了满足激光测量机器人对各关节臂转角数据和激光位移传感器所测高度数据采集的同步性,文章设计了一种激光测量机器人数据同步采集系统。该系统采用PROFIBUS总线和高速AD转换芯片来达到数据同步采集的目的。采用STM32F103RCT6作为整个系统的主控芯片,控制整个系统完成同步数据采集;由VPC3+C芯片实现PROFIBUS-DP协议,通过PROFIBUS总线完成对机器人各关节臂转角数据的传输;由16位高速A/D转换芯片AD4001完成对激光位移传感器的采样。系统的分析结果显示,文中所设计的同步数据采集系统具备硬件成本低、测量精度高、同步性好的特点,能够满足激光测量机器人对数据采集的同步性和高精度的要求。

In order to meet the acquisition synchronization of the laser measurement of the robot on the joint arm of the angular data and height data measured by laser displacement sensor,this paper designs a data acquisition system for laser measurement robot.The system uses PROFIBUS bus and high-speed AD conversion chip to achieve data synchronization acquisition.As the master of the entire system chip,STM32F103RCT6 controls the entire system to complete the synchronization data acquisition;PROFIBUS-DP protocol can be achieved by the VPC3+C chip,the articulated arm's angular data of the robot can be transmitted by the PROFIBUS bus and laser displacement sensor can be sampled by 16-bit high-speed A/D conversion chip AD4001.The results of the system analysis show that the synchronous data acquisition system designed in this paper has the characteristics of low hardware cost,high measurement precision and good synchronization,and can meet the requirements of synchronous and high precision of data acquisition by laser measurement robot.