Modular Design Of Mobile Robot Based On Bus

In recent decades,robot technology has a rapid development.Various types of robots are widely used in different industries and fields,greatly improving production efficiency.As an important category of robots,mobile robots have important applications in the industrial,military,entertainment and other fields.According to the idea of modular design,and different functions and tasks of the robot,this paper constructs a mobile robot module library,and designs the mobile platform module,task module and auxiliary module.Based on TwinCAT as the control core,this paper completes a highly multiplexed,hierarchical robotic system through the RS-485 and EtherCAT bus protocol.As a basic part of the module library,the mobile platform has multi-terrain adaptability and reliability,which makes it easy to carry other devices.In this paper,through the V-REP dynamic simulation,its size is optimized to ensure its obstacle obstacle capability and operational stability.As the core work module,this article designed a 5 + 1 degrees of mechanical arm,with the working radius of 1m,the load capacity of 15 Kg and other characteristics,which meets the needs of most tasks.As the control core of mobile robot,this paper builds the control network of robot arm module through EtherCAT real-time Ethernet technology,establishes the mobile platform control network through 485 bus and Modbus protocol,and integrates the multi-bus slave program through TwinCAT.At the same time,a set of upper and lower computer communication framework,which is based on TCP / IP protocol and ADS communication,is designed and developed to ensure the stability of network communication.As an auxiliary module,how to fuse image data and control data is a key issue.Based on the FFMPEG framework,the video capture and soft coding in H.264 are implemented on the lower computer.And the transmission algorithm and terminal decoding and playing functions of the video stream based on UDP protocol are realized.The actual test shows the fluency and real-time performance of the video are remarkable.In the host computer display terminal,this article also uses Unity3 D to develop a virtual simulation module that shows the real-time operation of mobile robots.Through practical testing,the multi-functional mobile robot designed in this paper can identify the working module autonomously and start the corresponding control program according to the design requirements.It can run on the complex road surface and crawl the target object,and the stability of the control system is good.Fluency and real-time effect is significant,for the mobile robot teleoperation has provided convenience.