Research And Development Of Omni-directional Mobile Platform Communication System

The development of science and technology and the progress of the times have accelerated the development of the industrial robot industry.Among them,communication system is an important foundation for industrial robots to have a foothold.However,in some traditional industrial robot communication systems,The communication between various sensors and CPU controllers is mostly based on serial communication,which is difficult to adapt to the complex location environment in the industrial field.And most of the industrial robot communication system controller can not receive the information feedback of the sensor in real time,which increase the instability and error rate of the industrial site,so that it can not better serve the workers and reduce the efficiency of work.In order to solve these problems,a communication system of omni directional mobile platform is developed in this paper.The system uses STM32F407ZGT6 chip as the main controller chip,based on CAN bus network and RS485 interface technology,and uses wireless remote control equipment to control all directional mobile platform through ZigBee wireless network.Among them,STM32F4 chip is a high-performance microprocessor based on the Cortex-M4 kernel.It can effectively improve the speed of execution and efficiency of the code,and has been widely used in the industrial control field.The CAN bus has good communication ability and strong anti-jamming performance,and it can fully adapt to the work of controlling the motor driver of the mobile platform under harsh environment.The RS485 bus with half duplex communication can be used for data collection of all kinds of external sensors.The main work of this paper is as follows: firstly,expounded the research background and significance of omni directional mobile platform,and analyzed the research status of mobile robot and mobile robot communication system at home and abroad.Secondly,introduced the key technologies needed for the communication system,and then described the communication system architecture model from hardware and software.Finally,the implementation and implementation of the CAN bus network and the RS485 bus network are explained in detail according to the various sensor motor drivers,pressure sensors,ZigBee wireless terminals and laser rangefinder.This paper has developed an omni directional mobile communication system with high real-time and strong stability.The communication system can safely and steadily complete the precise control and data collection of motors and all kinds of sensors on the omnidirectional mobile platform.At the same time,through timely information feedback,the communication system can adjust the control of the mobile platform in real time,and enhance the accuracy and stability of mobile platform movement.