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一种SWARM单体机器人的设计与实现
  • ISSN号：1004-373X
  • 期刊名称：《现代电子技术》
  • 时间：0
  • 分类：TN911.34[电子电信—通信与信息系统;电子电信—信息与通信工程]
  • 作者机构：[1]泛亚汽车技术中心有限公司,上海201201, [2]大庆油田装备制造集团,黑龙江大庆163411, [3]上海理工大学,上海200093
  • 相关基金：基金项目：教育部博士点基金（20103120110008）;国家自然科学基金-重大研究计划（91024026）
作者： 刘斌[1], 刘永会[2], 刘磊[3]
关键词： SWARM机器人, 系统自治, 系统分析与集成, 机器人设计, SWARM robot, system autonomy, system analysis and integration, robot design
中文摘要：

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。

英文摘要：

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.

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期刊信息
  • 《现代电子技术》
  • 北大核心期刊（2014版）
  • 主管单位:陕西省信息产业厅
  • 主办单位:陕西电子杂志社 陕西省电子技术研究所
  • 主编：张郁（执行）
  • 地址：西安市金花北路176号陕西省电子技术研究所科研生产大楼六层
  • 邮编：710032
  • 邮箱：met@xddz.com.cn
  • 电话：029-93228979
  • 国际标准刊号：ISSN：1004-373X
  • 国内统一刊号：ISSN：61-1224/TN
  • 邮发代号:52-126
  • 获奖情况:
  • 中国科技核心期刊
  • 国内外数据库收录:
  • 波兰哥白尼索引,中国中国科技核心期刊,中国北大核心期刊（2014版）
  • 被引量:37245