基于μC/OS-Ⅲ的扒盐机器人控制系统设计  

Design of Salt Scraping Robot Control System Based onμC/OS-III

作　　者：吴浩鑫 聂晓根[2] WU Hao-xin;NIE Xiao-gen(College of Mechanical and Electrical Engineering&Automation,Xiamen University Tan Kah Kee College,Zhangzhou 363105,China;College of Mechanical and Electrical Engineering&Automation,Fuzhou University,Fuzhou 350108,China)

机构地区：[1]厦门大学嘉庚学院机电工程与自动化学院,福建漳州363105 [2]福州大学机械设计制造及自动化学院,福建福州350108

出　　处：《山东工业技术》2025年第2期96-102,共7页Journal of Shandong Industrial Technology

摘　　要：在海盐的生产过程中,扒盐是海盐生产的重要工序之一。扒盐工作开始由人工向智能化发展,在对扒盐机器人的研究当中,控制系统负责机器人运动和操作,是扒盐机器人的核心组成部分。本文设计了硬件系统,主要包括STM32F103主控板、超声波传感器、定位信息采集模块、IMU传感器以及LoRa无线串口模块等,以此获取扒盐机器人的位置信息和姿态信息;设计了软件系统,基于μC/OS-Ⅲ嵌入式实时操作系统进行编程设计,按照功能划分为信息采集任务部分、信息整合任务部分、人机交互任务部分以及动作执行任务部分四个部分,并对每个部分进行控制程序的设计。通过硬件系统和软件系统的结合,从而让扒盐机器人能够进行自主移动以及高效扒盐。During the production process of sea salt,salt scraping is one of the crucial procedures.The salt scraping operation has been evolving from manual to intelligent.In the research of salt scraping robots,the control system,which is responsible for the robot's movement and operation,constitutes the core component of the salt scraping robot.A hardware system was designed,mainly encompassing the STM32F103 main control board,ultrasonic sensors,positioning information acquisition modules,IMU sensors,and LoRa wireless serial port modules,etc.,to obtain the position and posture information of the salt scraping robot.A software system was designed,based on theμC/OS-Ⅲembedded real-time operating system for programming.It was divided into four parts according to functions:the information acquisition task part,the information integration task part,the human-computer interaction task part,and the action execution task part.The control programs were designed for each part.Through the combination of the hardware system and the software system,the salt scraping robot is enabled to perform autonomous movement and efficient salt scraping.

关 键 词：扒盐机器人 控制系统 STM32 μC/OS-Ⅲ 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]