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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.
This paper introduces a control hardware system structure of the inspection robot traveling along overhead high voltage lines and analyzes the functional requirements of the inspection robot in detail. Based on this, it determines the working mode of the inspection robot control software and details the main control program of the robot body Design In order to achieve real-time and efficient control purposes, according to the characteristics of WinCE multi-tasking, multi-threading technology is used in EVC environment to realize the function modularization of master control software, and the work process of each worker thread is introduced in detail.Using WINDOWS kernel object Which can effectively realize the synchronization control between threads.The use of MFC framework simplifies the software design method and improves the software reusability and development efficiency.The experiment shows that the control software system is stable and real-time, and can meet the application requirements.