中国机械工程2017，Vol.28Issue(12)：1468-1473,6.DOI:10.3969/j.issn.1004-132X.2017.12.013
移动式服务机器人混合控制器关键技术研究
Study on Key Technologies of Hybrid Controllers for Mobile Robots
摘要
Abstract
Aiming at the high cost ,poor real-time capability and other issues of mobile robot con-trollers for implementing many functions ,such as the motion control,network communication,mul-timedia UI interaction ,the device remote monitored control and so on,a hybrid controller scheme was put forward herein that multi-core heterogeneous microcontroller combined with Android mobile de-vices and finished a prototype system.The system adopted the management-oriented multi-microcon-troller motion control systems and signal acquisition systems which connected with Android mobile devices through the OTG.Android mobile devices implemented multimedia UI interaction,WiFi and WiFi Direct communication,image transmission and the monitor data of device state transmission and processing.The server implemented storages and applications of device state data.The prototype sys-tem was verified to be fine,and reached the goals of design by tests.关键词
移动机器人/混合控制器/Android移动设备/监控系统/面向管理的多微控制器Key words
mobile robot/hybrid controller/Android mobile device/monitoring system/man-agement-oriented multi-microcontroller分类
信息技术与安全科学引用本文复制引用
徐培培,王国庆,翟佳星,李兆路,张志新..移动式服务机器人混合控制器关键技术研究[J].中国机械工程,2017,28(12):1468-1473,6.基金项目
陕西省工业攻关项目(2016GY-003) （2016GY-003）
