摘要
矿用巡检机器人对实现煤矿无人化(或少人化)生产、消除井下监控死角和安全盲区等具有重要应用价值。为了提高稳定性、可靠性和续航能力,开发设计了一种基于浮点型DSP控制器TMS320F28335的巡检机器人控制系统。系统硬件利用模块化设计,降低硬件开发周期和控制系统复杂度,软件利用主程序扫描和外部中断源触发,进一步发挥DSP控制器浮点运算速度快的优势。该系统可实现巡检机器人在井下作业过程中监测信号和数据的高效集中处理,具有实时稳定性强、运行可靠和运算效率高等优点。
Mine inspection robot has important application value for realizing unmanned(or less humanized)production in coal mine,and eliminating blind spots and safety blind areas in underground monitoring.In order to improve the stability,reliability and endurance,the floating-point DSP controller TMS320 F28335 was used to develop and design the inspection robot control system. The system hardware uses modular design to reduce the hardware development cycle and control system complexity. The software uses the main program scan and external interrupt source to trigger,which is further taking advantage of the fast floating-point operation of DSP. The system can realize the efficient centralized processing of monitoring signals and data of the inspection robot in the process of underground operation, and it has the advantages of strong real-time stability, reliable operation and high computational efficiency.
作者
邱栋
Qiu Dong(Huanghuai University,Zhumadian 463000,China)
出处
《煤矿机械》
北大核心
2020年第11期12-15,共4页
Coal Mine Machinery
