Based On The Canopen Protocol Entertainment Robot Obstacle Avoidance System Research

With the development of science and technology and with the improvementof people’s living standard, computer are being popular, more and more servicerobots are going into every household. Being as service robots, entertainmentrobots have a broad market prospect, because they are widely used and arefavorite by people. Therefore, it has high scientific research value and socialsignificance to promote the research of entertainment robots.The research of entertainment robots in China does not include a dedicatedoperating system or a network communication protocol, which lead to theproblems of entertainment robots, such as the bad openness of system, thedisunity of communication interfaces and the bad reliability of data transmission.The development of entertainment has being baffled. A new method is proposedthat the reliable communication between the modules of the obstacle-avoidancesystem under the linux system is realized on the protocol of CANopen throughthe CAN bus, what make the communication interfaces unity and increase thereliability, especially it can show a clearly direction on the formulation ofnetwork communication standards of the entertainment robots.The specific contents of the paper are written as follows:(1)Introduce the working principle of CAN bus in detail, and analyzecommunication objects which is must for the smallest communication system onthe CANopen protocol;(2)Design the entertainment robot obstacle avoidance system overall, ahardware test platform is put up on the ability storm robot using ARM processorS3C2440as the master node processor, and connect the other slave node of thesystem through the CAN bus;(3)The paper selected the open system-linux as the operating system ofentertainment robot obstacle avoidance system, through comparing severalcommon systems. A software development platform is put up after thetransplantation of the system is done to the master controller. At the same time,the design of the CAN bus driver lay a foundation for CANopen protocol designing;(4)According to the requirements of CANopen protocol smallestcommunication system, the paper designed system network overall and designedthe essential communication objects and sub-protocol of entertainment robotobstacle avoidance system. The main achievements include PDO real-time datatransmission, NMT network management, SDO access device data and devicemonitoring function;(5)Finally, the paper analyzed the CANopen communication test results ofthe obstacle avoidance system, the results showed that the the obstacleavoidance system can work well with the CANopen protocol, and can do betterthan that without protocol on the reliability, also, the network management isrealized.