配网导线自动清洗机器人嵌入式控制系统设计与实验研究

综合嵌入式系统、自动化、虚拟样机、无线通信、智能控制等技术及模块化设计方法,设计了自动清洗机器人系统。采用嵌入式系统设计方法设计了以ATmega128A为主控MCU的机载控制系统。采用前后台和嵌入式系统方法设计了控制系统软件。实验表明,地面站与机载控制系统之间的无线通信系统鲁棒性强,在4 800,8N1通信格式和433 MHz频率下遥控距离超过200 m,无丢码和乱码,清洗速度在0~12 m/min连续可调,可稳定、高效地实现配网导线的自动化清洗。

Development of embedded control system of cleaning robot for overhead electrical powerline and experiments

Based on the such technologies as embedded control system, automation, virtual machine, wireless communication, intelligent control and modular design method, an automatic cleaning robot including its wireless control system was developed. Taking some factors into consideration, some device and chips were selected and the on-board Atmega128A MCU motion control system was designed accordingly with the embedded design method. Meanwhile, the communication between the robot and the station controller is 433MHz radio frequency and the MCU code was designed in interrupt ISR structure and embedded method. Some field experiments were conducted and the results show that there is no lost control code in 433MHz RF communication with 4800,8N1 protocol, the control distance is over 200m, the working clean velocity is between 0-12m/min and adjustable smoothly. The robustness of the on-board MCU control system and high-performance of the cleaning robot were tested and indicted in result.