多核异构服务机器人通用可编程控制系统研究  

Research on Universal Programmable Control System of Multi-Core Heterogeneous Service Robots

作　　者：胡延鹏 王国庆[1] 王强[1] 周龙 HU Yan-peng;WANG Guo-qing;WANG Qiang;ZHOU Long(School of Construction Machinery,Chang an University,Xi an 710064,China)

机构地区：[1]长安大学工程机械学院

出　　处：《测控技术》2019年第12期17-21,共5页Measurement & Control Technology

基　　金：陕西省工业攻关资助项目(2016GY-003)

摘　　要：针对大多数服务机器人采用的单核模式所存在的开发周期长、研发成本昂贵等问题,设计了一种面向服务机器人的基于多核异构模式的通用可编程控制器系统平台。该控制系统平台由多核异构微控制器、移动终端监控系统和机器人图形化编程系统(RGIDE)组成,多核异构微控制器将控制系统功能多核化,以增强实时性、可靠性,降低运算负荷;其中作为主控的移动终端,自带客户端监控系统,便于现场维护与远程监控。自行开发了基于EngineerC语言的图形化编程系统,使该平台具备了快速二次开发能力。本可编程控制系统可用于多传感器数据的采集和处理、运动系统的驱动、大量多媒体交互显示和现场监控等多种场合。In order to solve the problems of the single-core model adopted by most service robots,such as long development cycle and high research and development costs,a universal programmable controller system platform based on multi-core heterogeneous mode for service-oriented robots is designed.The control system platform is composed of multi-core heterogeneous microcontrollers,mobile terminal monitoring system and robot graphical integration development environment(RGIDE).Multi-core heterogeneous microcontrollers make the control system multi-core in order to enhance real-time,reliability and reduce computing load.As the main control mobile terminal,it has its own client monitoring system,which is convenient for field maintenance and remote monitoring.A graphical programming system based on EngineerC language is developed,and the RGIDE enables the platform to be redevelop rapidly.The programmable control system can be used in many occasions,such as multi-sensor data acquisition and processing,motion system driving,a large number of multimedia interactive display and on-site monitoring.

关 键 词：服务机器人 可编程控制器 多核异构 监控系统 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]