149986-01 BENTLY

In the selection of sensing devices,try to choose intelligent sensing instruments with strong anti-interference.At the same time,considering the funding of pre-research projects,some conventional sensors are also used.In addition,because there are many sensors outside the robot,and the cabin space is very limited,this paper refers to the idea of field bus control system information processing on-site,and places a single chip outside the robot.After the processing of these sensor data is completed,it is uploaded to the main single chip.Experiments show that this scheme can not only relieve the working pressure of the main microcontroller,realize the design idea of the distributed system,but also reduce the common mode interference on the signal transmission line.

在传感装置的选用上，尽量选用抗干扰性强的智能传感仪器，同时考虑到预研项目的经费情况，也用了一些常规的传感器。另外，由于机器人外部有很多传感器，而舱室空间又十分有限，因而本文参考现场总线控制系统信息处理现场化的思想在机器人外部放置了一个单片机，完成这些传感器数据的处理后再上传给主单片机。试验表明，这种方案不仅可以缓解主单片机的工作压力，实现分布系统的设计思想，还可以减少信号传输线上的共模干扰。