外文翻譯--無線串行通信實現(xiàn)的移動機器人網(wǎng)絡(luò)遙操作系統(tǒng)(編輯修改稿)
2024-09-18 17:19 本頁面
【文章內(nèi)容簡介】 ch has the small focus and widely visual is for task, which has a big focus, and narrowly visual field. These two cameras are used as the sensors of the robot. Mobile robot has been equipped with the distance sensor and force sensor as to apperceive the force feedback.IV. HARDWARE OF THE WIRELESS SERIAL COMMUNICATION CARDAs mentioned above, the motors are driven by the drivers which are controlled by the PC104 card puter. Another way is to transmit the orders by the wireless way but not direct hardware link. This kind of control style could improve the efficiency of the PC104 puter.We use wireless transceiver systems as our hardware part,which posed of the single chip and RF modules, that is,AT89S52 single chip and contains four parts: RF modules??MCU??Interface circuit and power supply part.A. RF modulesRF circuit system is posed of nRF2401 and a number of external ponents. As the following figure, it is mainly consisted of the amplifier, crystal oscillator and external transceiver includes RF frontend ( the antenna matching network), and phaselocked loop PLL circuit (including crystal oscillators, VCO and loop filter circuit inductance). As the external ponents is the key elements to achieve the function of nRF 2401, the quality and accuracy of these ponents can directly impact on the overall performance of the device.We use the reference circuit given by the Nord Company for the power of nRF2401. C5, C6 are the decoupled capacitors. The antenna part of the reference circuit uses a horizontal antenna, so it occupies a larger space. But now, in the field of wireless munications, we often use inverted F antenna. Inverted F antenna is closer. The bandwidth is moderate and it is not easy to damage, but also it absorbs a smaller power pared with whiptype antenna. Therefore,in this design we use inverted F antenna which is shown in . The matching network is consisted of L1, L2, C3, C4,C9, and C10.B. The design of the control part of the single chipThe single chip municates with the wireless munication module through the serial port in this the wireless transceiver system received the data, it will be transmitted to the single chip through the serial port. At thesame time, some other control mand will be sent by the single chip. Similarly, at the time when the system sends data,the control mand will be sent to the wireless munication module through the serial port by this single chip and then be sent out using the wireless munication module. Configuration of the nRF2401Since nRF2401 uses DRI, CLK and DATA, the three wires to implement transmission and considering the factor of the rate, the connection of AT89S52 and nRF2401 will be implemented through the SPI interface. The external system will be set with FLASHRAM, Network Controller, LCD monitor, A/D Converter, single chip and so on. Within our design, as the single chip AT89S52 has not the SPI interface, we have to simulate I/O to SPI. The operation for simulating SPI includes SCLK, data Input and Output. Comparing with the standard SPI, nRF2401 has only one DATA in corresponding to MISO and MOSI in SPI .Therefore, the diagram is as . Chip information Transmission of the nRF2401 and AT89S52C. The design of the power supply partAccording to the power’s requirements of the wireless transceiver module NFR2401, we decide to choose ASM1117 to supply the power for . The power supply of the system is posed of the power supply module, an integrated voltage regulator AMS1117 and a number of external ponents. AMS1117 is a DCDC voltage converter。 it can convert the 5V voltage to voltage.V. THE SOFTWARE PART OF WIRELESS TRANSCEIVERMODULEThe part of the Wireless transceiver module should first initialize the AT89S52 and nRF2 401. The nRF2401’s initialization includes the Transceiver Mode of the RF Modules, transceiver channel frequency, the rate of the transfer, address, CRC
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