The invention discloses a
robot chassis control system and method based on time hard synchronization, and the
system and method carry all sensors based on a high-speed
processing SOC
chip with an embedded FPGA + ARM core, and achieve the
algorithm of the whole
chassis control system. Compared with an FPGA + ARM heterogeneous
separation scheme, the integration level and the communication
interconnection rate of the
system can be further improved. Data requests and responses of all sensors can be processed in real time by means of the efficient and powerful
parallel processing capacity of the FPGA; meanwhile, a global
clock module is constructed in the FPGA, and the FPGA automatically marks timestamps according to the
clock module when
processing the sensor data, assembles all the sensor data into frames and sends the frames to the ARM core. The ARM is responsible for logic protocol analysis and control process scheduling, plays a connection link role, and performs encapsulation and uploading of a lower
computer network communication protocol and analysis and task scheduling of an instruction issued by an upper computer. The method ensures that the
robot chassis control system can effectively solve the problem of
data transmission delay, and has a good application prospect.