摘要
介绍了一种SWARM机器人的单体设计与实现。为实现SWARM机器人的批量制造、单体多功能的目的;在此首先采用了模块化设计方法;用CAN总线实现了主嵌入式CPU与各模块MCU的连接,形成了多CPU的控制体系结构;主嵌入式软件采用了基于数据池的多线程软件架构,模块微控器使用了基于消息伺服的多任务操作程序。通过机器人单机调试,获得了稳定的机器人单体控制结果。该机器人系统具有结构紧凑、易于批量生产、单体功能可伸缩的特性。
The design and implementation of individual robot in SWARM robot is presented in this paper. In order to realize the mass production of SWARM robot and multifunctionality of individual robot, the modularization design method is used, and the connection of master embedded CPU and module MCUs is realized by CAN bus to form multi-CPU control struc- ture. The multithreaded software architecture based on data pool is adopted in the master embedded software, and the multitasking operating procedure based on message service is employed for the module microcontroller. A stable robot individual control re- sult was obtained by the robot individual debugging. The system has compact structure, and is easy to manufacture in mass pro- duction. Its function is scalable.
出处
《现代电子技术》
2013年第4期85-88,共4页
Modern Electronics Technique
基金
教育部博士点基金(20103120110008)
国家自然科学基金-重大研究计划(91024026)
