变形轮侦察机器人的控制系统设计  

Control system design of reconnaissance robot with deformable wheels

作　　者：陈科山[1] 王志腾[1] 闫硕[1] 王玉[2] 刘潇伟 

机构地区：[1]北京交通大学,北京100044 [2]电子科技大学,四川成都611731 [3]北京铁路局丰台机务段,北京100000

出　　处：《电子设计工程》2015年第15期1-4,共4页Electronic Design Engineering

基　　金：高等高校博士学科点专项科研基金资助课题(20130009110030)

摘　　要：为提高机器人适应复杂地面环境的能力,车轮采用可变形为三爪的结构,可根据不同的路面,选择轮式移动和爪式爬行两种步态,实现现场侦察。该机器人采用上下两级的控制策略,以Lab view软件进行上级监视、操控界面开发,下级选用功能强大的STM32芯片作为车载主控制器,MSP430单片机作为协控制器,应用RS-485总线组成分布式控制系统。有效的实现了机器人的远程控制和信息传递。In order to improve the ability to adapt to the complex ground environment of the robot, wheels use the deformable structure as three claws,so that, it can select wheeled mobile and claw crawling, to achieve on-site reconnaissance. We use upper and lower levels of the control strategy, develop the upper monitor and control interface with labview. The powerful STM32 chip is chosen as car master controller,MSP430 microcontroller is chosen as co-controller. They formed a distributed control system. It effectively achieves the remote control and the transmission of information.

关 键 词：可变形 现场侦察 分布式控制 

分 类 号：TN98[电子电信—信息与通信工程]