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为了实现机器人激光测距控制器携带方便、控制效果好、成本低以及可靠性强的优势,设计基于嵌入式技术的机器人激光测距控制器,其由上机位和下机位两部分组成。上机位对下机位的数据进行显示、分析和管理,由激光测距收集器、直接控制器和显示屏组成。下机位采集机器人激光测距的状态和环境数据,由照明摄像头、GT8340嵌入式控制芯片和电机驱动器组成。分析了GT8340嵌入式控制芯片对机器人激光测距的控制流程,以及上机位的连接结构和功能,并对上机位与下机位以及机器人的通信接口进行了软件设计。实验结果证明,所设计的控制器测距误差小、控制延时短。
In order to achieve the advantages of portable laser ranging controller, good control effect, low cost and high reliability, a robot laser ranging controller based on embedded technology is designed, which is composed of two parts: upper position and lower position. On the plane on the next bit of data display, analysis and management, from the laser range collector, direct controller and display components. Under the position acquisition robot laser ranging state and environmental data, by the lighting camera, GT8340 embedded control chip and the motor driver. The control flow of the GT8340 embedded control chip on robot laser ranging is analyzed, and the connection structure and function of the upper deck are analyzed. The software design of the upper deck, the lower deck and the communication interface of the robot are also designed. Experimental results show that the designed controller has small ranging error and short control delay.