8.2 工业级扩展方案

Modbus/TCP工业控制

from pymodbus.client import ModbusTcpClient

class IndustrialChassis:
    def __init__(self, host='192.168.1.100', port=502):
        self.client = ModbusTcpClient(host, port)
        self.client.connect()
    
    def set_speed(self, left_speed, right_speed):
        """设置电机速度"""
        # 写入保持寄存器
        self.client.write_registers(0x100, [left_speed, right_speed])
    
    def get_position(self):
        """读取当前位置"""
        response = self.client.read_holding_registers(0x200, 2)
        return response.registers[0], response.registers[1]
    
    def emergency_stop(self):
        """紧急停止"""
        self.client.write_coil(0x001, True)

CAN总线集成

import can

class CANBusController:
    def __init__(self, interface='socketcan', channel='can0'):
        self.bus = can.Bus(interface=interface, channel=channel)
    
    def send_motor_command(self, left_speed, right_speed):
        """发送电机控制指令"""
        data = struct.pack('hh', left_speed, right_speed)
        msg = can.Message(arbitration_id=0x101, data=data)
        self.bus.send(msg)
    
    def receive_sensor_data(self):
        """接收传感器数据"""
        msg = self.bus.recv(timeout=0.1)
        if msg and msg.arbitration_id == 0x201:
            return struct.unpack('ffff', msg.data)
        return None

安全防护系统

1. 安全继电器：实现硬件级急停
2. 安全光幕：检测人员进入工作区域
3. 区域限制系统：设置电子围栏
4. 故障诊断系统：实时监测设备状态