摘要
根据试验平台对开放性、实时性和可靠性的需求,为"蓝天洁士-4"型擦窗机器人设计了分布式控制系统。系统以ARM微控制器和AVR单片机组成的上下位机构成机器人本体控制器,以PC机构成机器人监控和规划器。为了兼顾系统的安全性和开放性,在机器人本体控制器的上位机中采用了基于μC/OS-Ⅱ的RTOS作为开发平台,在PC机上利用动态链接库封装机器人底层动作和信息查询指令。给出了多任务系统的任务划分规则,利用多线程实现了监控软件,分析了动作线程和查询线程的工作流程。
To fulfill the demand for openness, real time and reliability, this paper designed a dis- tributed control system for a glass wall cleaning robot ＂SkyCleaner IV＂. The onboard controller of the robot was consisted of an up controller based on ARM micro - controller and two bottom con- trollers based on AVR micro -controllers. The in- terface and planning software was designed on a PC. For the safety and openness, the software in the up controller was running on a RTOS - μC/OS-Ⅱ, and the robot actions were packaged in a DDL running on the PC. The paper presented the rule of the multi tasks distribution, the method of con- structing a interface and planner based on multi thread.
出处
《机械与电子》
2014年第7期68-72,共5页
Machinery & Electronics
