摘要
针对LPG球罐检测爬壁机器人远程控制的技术需求,研制了一种基于WiFi的无线远程控制系统,包括爬壁机器人机载系统和上位机监控系统。其中,基于ARM Cortex-M3内核的STM32F103型单片机开发爬壁机器人机载控制系统,通过WiFi方式与上位机监控系统通信,利用PWM控制方式驱动爬壁机器人电机转动;基于Visual Studio平台中的MFC框架设计上位机监控系统,采用C/S架构,利用TCP/IP协议传输数据。经实验验证,该系统能够较好地实现对爬壁机器人转向、定速和定距的远程控制。
A wireless remote control system based on WiFi is developed to meet the technical requirements of remote control of wall climbing robot for LPG spherical tank inspection.The system consists of the wall climbing robot airborne system and upper computer monitoring system.Based on STM32F103 MCU of ARM Cortex-M3 core,the airborne control system of wall climbing robot is developed.WiFi is used to communicate with the monitoring system of upper computer,and PWM control mode is used to drive the motor of wall climbing robot.The upper computer monitoring system adopts C/S architecture,data transmission adopts TCP/IP protocol,and the upper computer monitoring system is designed based on MFC framework of Visual Studio platform.The experimental results show that the system can realize the remote control of steering,constant speed and fixed distance of wall climbing robot.
作者
郑亚东
刘朝华
金哲成
王明科
胡立强
ZHENG Yadong;LIU Zhaohua;JIN Zhecheng;WANG Mingke;HU Liqiang(Institute of Robotics and Intelligent Equipment,Tianjin University of Technology and Education,Tianjin 300222)
出处
《现代制造技术与装备》
2021年第4期68-71,共4页
Modern Manufacturing Technology and Equipment
基金
天津市科技支撑重点项目(18YFZCSF00600)
呼伦贝尔市科技计划项目(2018127005)。
关键词
LPG球罐
爬壁机器人
远程控制
单片机
MFC
LPG spherical tank
wall climbing robot
remote control
single chip microcomputer
MFC
