基于Freertos与ARM的智能探索机器人系统设计与实现  

Design and Implementation of Intelligent Exploration Robot System Based on Freertos and ARM

作　　者：琚子晗 白贺 杨喜童 JU Zihan;BAI He;YANG Xitong(Harbin University of Science and Technology,Harbin 150080,China)

机构地区：[1]哈尔滨理工大学,哈尔滨150080

出　　处：《机械工程师》2021年第6期37-39,42,共4页Mechanical Engineer

基　　金：哈尔滨理工大学省级大学生创新创业训练计划项目(201910214067)。

摘　　要：针对人类对于未知环境的探索需求高,探索任务多样化,探索地形崎岖多样,设计了一种以Freertos实时操作系统和ARM系列处理器的智能探索机器人系统。完成了底盘移动控制、机械臂控制、环境数据采集、实时传输数据等任务,具有完善的任务调度机制,并根据机器人的探索需求设计独立的任务。机器人端还有一个运算设备,可以结合摄像头与热成像实现了对环境的实时监测,探索数据的实时交互功能。结合履带减震底盘和全向移动机械臂可以满足大部分探索任务需求,具备较高的实用价值。Aiming at the high demand of human beings for exploring unknown environments,diversified exploration tasks,and rugged and diverse terrains,an intelligent exploration robot system based on Freertos real-time operating system and ARM series processors is designed.It can complete tasks such as chassis movement control,robotic arm control,environmental data acquisition,and real-time data transmission.It has a complete task scheduling mechanism and also designs independent tasks according to the robot's exploration needs.There is also a computing device on the robot side,which can combine the camera and thermal imaging to realize real-time monitoring of the environment and real-time interactive function of exploring data.The combination of a crawler damping chassis and an omnidirectional mobile manipulator can meet the needs of most exploration tasks and has high practical value.

关 键 词：探索机器人 结构设计 Freertos系统 任务调度机制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]