垂直壁面行走机器人控制系统研制

The Control System of the Mobile Robot Capableof Moving on the Wall Surface

本文介绍垂直壁面行走机器人控制系统．该控制系统采用二级计算机控制．二级计算机之间采用射频无线电通讯．上位机采用４８６微型计算机系统，下位机则采用ＲＯＲＺＥ系统新型步进控制驱动系统．上位系统能够对控制系统中的各部分以及视觉系统、作业装置系统和辅助系统的行为进行协调和管理．

This paper describes the control system of the mobile robot capable of moving on the wall surface.The control system consists of a master-slave computer system. And communication is made by wireless radio frequency between the master and the slave computers.The master computer is a 486 microcomputer system while the slave computer,a novel RORZE step driving control system.The master computer can manage and control the vision system, operating system and support system of the mobile robot.