中文摘要：

介绍一种沿架空高压线路行驶的巡检机器人的控制硬件系统结构,并详细分析巡检机器人的功能需求,在此基础上确定巡检机器人控制软件的工作方式并对机器人本体主控程序进行详细设计.为达到实时高效的控制目的,根据WinCE多任务的特点,在EVC环境下采用多线程技术实现了主控软件的功能模块化,并详细介绍每个工作线程的工作过程.使用WINDOWS内核对象有效地实现了线程间的同步控制.利用MFC框架简化了软件设计方法,提高了软件的重用度及开发效率.实验表明,控制软件系统运行稳定,实时性好,能满足应用需求.

英文摘要：

The article firstly introduces the control hardware system architecture of the inspection robot along high-voltage overhead line;and then a detailed analysis of the functional requirements of inspection robot is made.Based on that,the working mode of the inspection robot control software is determined;and the main control program of the robot body is detailedly designed.In order to achieve the control purpose in real-time and efficiently,according to the multi-tasking of WinCE,multi-threading technology is used to achieve function modularization of the main control software in EVC environment,and every work thread of each worker process is given a minute description.WINDOWS kernel object is effective to synchronization between the threads.MFC framework simplifies the method of software design to improve the degree of reuse and development efficiency of the software.Experiments show that the control software system is stable,real-time,and could meet the application requirements.