【摘要】 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、模块化设计及嵌入式系统方法,设计了配网导线自动喷涂机器人系统;该系统包括线上行走机器人机械移动本体、机载控制系统及地面站三部分,机械本体采用模块化结构形式,机载控制系统采用ATmega 128A8位MCU;地面站软件采用TurboDelphi设计,与机载控制系统之间采用433MHz无线通信形式,系统工作电压为24V;实验表明,该系统最大运行速度约12m/s,最大涂漆厚度2mm,鲁棒性强,可稳定、高效地实现配网导线的绝缘漆自动喷涂作业。更多还原

【Abstract】 Combining such technologies as embedded control system,automation,virtual machine,wireless communication,intelligent control,modular design with embedded control method,an automatic insulation-painting robot was designed and developed.The robot consists of mechanical mobile carrier on the power-line,on-board MCU control system and station controller designed with TurboDelphi.Meanwhile,the modular method and embedded method were adopted to design the mechanical mobile carrier and the on-board ATmega128A8-bit MCU control system respectively.The station controller connects with the on-board control system with 433 MHz wireless module,and the motors run in 24 VDC voltage.The site experiments indicate the robot moves in about 12m/s velocity,the paint thickness is 2mm,together with its robustness of the on-board MCU control system and high-performance of the painting robot.更多还原