摘要
综合嵌入式系统、自动化、虚拟样机、无线通信、智能控制等技术、模块化设计及嵌入式系统方法,设计了配网导线自动喷涂机器人系统;该系统包括线上行走机器人机械移动本体、机载控制系统及地面站三部分,机械本体采用模块化结构形式,机载控制系统采用ATmega 128A8位MCU;地面站软件采用TurboDelphi设计,与机载控制系统之间采用433MHz无线通信形式,系统工作电压为24V;实验表明,该系统最大运行速度约12m/s,最大涂漆厚度2mm,鲁棒性强,可稳定、高效地实现配网导线的绝缘漆自动喷涂作业。
Combining such technologies as embedded control system, automation, virtual machine, wireless communication, intelligent control, modular design with embedded control method, an automatic insulation--painting robot was designed and developed. The robot con- sists of mechanical mobile carrier on the power--line, on--board MCU control system and station controller designed with TurboDelphi. Meanwhile, the modular method and embedded method were adopted to design the mechanical mobile carrier and the on-- board AT- mega128A 8--bit MCU control system respectively. The station controller connects with the on--board control system with 433MHz wire- less module, and the motors run ira 24V DC voltage. The site experiments indicate the robot moves in about 12m/s velocity, the paint thick- ness is 2mm, together with its robustness of the on--board MCU control system and high--performance of the painting robot.
出处
《计算机测量与控制》
北大核心
2014年第6期1757-1759,共3页
Computer Measurement &Control
关键词
配网导线
机器人
无线通信
嵌入式系统
over--head electrical power--line
mobile robot
wireless communication
embedded system
