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本文提出一种新颖可重构的、基于实时Linux的机器人数据采集与控制系统.该系统由PC104计算机和FPGA器件组成,能完成数据采集、传感器数据的管理、底层信息融合以及控制机器人的底层硬件.该集成系统与机器人主控计算机之间的通信采用Modbus协议.可重构数据采集与控制系统作为机器人板载计算机与其他控制器件的接口,能灵活地连接各种传感器和执行器.本系统已应用于保安巡逻机器人,实验结果验证了可重构系统的有效性和实时性.
In this paper, a novel reconfigurable real-time Linux-based robot data acquisition and control system is proposed.The system consists of a PC104 computer and an FPGA device to accomplish data acquisition, sensor data management, underlying information fusion and control of the robot’s underlying hardware The communication between the integrated system and the robot master computer adopts the Modbus protocol.The reconfigurable data acquisition and control system can be used as an interface between the robot onboard computer and other control devices and has the flexibility to connect various sensors and actuators. Has been applied to the security patrol robot, the experimental results verify the reconfigurability of the system is valid and real-time.