移动式服务机器人混合控制器关键技术研究  

Study on Key Technologies of Hybrid Controllers for Mobile Robots

作　　者：徐培培[1] 王国庆[1] 翟佳星[1] 李兆路 张志新[1] 

机构地区：[1]长安大学工程机械学院,西安710064

出　　处：《中国机械工程》2017年第12期1468-1473,共6页China Mechanical Engineering

基　　金：陕西省工业攻关项目(2016GY-003)

摘　　要：针对移动式服务机器人控制系统需要具备运动控制、网络通信、多媒体UI交互及设备远程监控等多种功能而导致成本高昂、实时性差等问题,提出了多核异构微控制器与Android移动设备相结合的混合控制器方案并实现了原型系统。该系统采用面向管理的多微控制器运动控制系统与信号采集系统,通过OTG与Android移动设备连接,可使得Android移动设备完成多媒体UI交互、WiFi及WiFi Direct通信、图像传输以及设备状态监控数据传输与处理;服务器端实现了设备状态数据的存储与应用。经过测试,样机整体性能良好,达到了预期的设计目标。Aiming at the high cost ,poor real-time capability and other issues ot mobile robot con- trollers for implementing many functions ,such as the motion control, network communication, multimedia UI interaction ,the device remote monitored control and so on, a hybrid controller scheme was put forward herein that multi-core heterogeneous microcontroller combined with Android mobile de- vices and finished a prototype system. The system adopted the management-oriented multi-microcon- troller motion control systems and signal acquisition systems which connected with Android mobile devices through the OTG. Android mobile devices implemented multimedia UI interaction, WiFi and WiFi Direct communication, image transmission and the monitor data of device state transmission and processing. The server implemented storages and applications of device state data. The prototype sys- tem was verified to be fine and reached the goals of design by tests.

关 键 词：移动机器人 混合控制器 Android移动设备 监控系统 面向管理的多微控制器 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]