CAJ | 학술논문

根据试验平台对开放性、实时性和可靠性的需求，为“蓝天洁士4”型擦窗机器人设计了分布式控制系统。系统以 ARM 微控制器和 AVR 单片机组成的上下位机构成机器人本体控制器，以 PC机构成机器人监控和规划器。为了兼顾系统的安全性和开放性，在机器人本体控制器的上位机中采用了基于μC／OS Ⅱ的 RTOS 作为开发平台，在PC 机上利用动态链接库封装机器人底层动作和信息查询指令。给出了多任务系统的任务划分规则，利用多线程实现了监控软件，分析了动作线程和查询线程的工作流程。
근거시험평태대개방성、실시성화가고성적수구，위“람천길사4”형찰창궤기인설계료분포식공제계통。계통이 ARM 미공제기화 AVR 단편궤조성적상하위궤구성궤기인본체공제기，이 PC궤구성궤기인감공화규화기。위료겸고계통적안전성화개방성，재궤기인본체공제기적상위궤중채용료기우μC／OS Ⅱ적 RTOS 작위개발평태，재PC 궤상이용동태련접고봉장궤기인저층동작화신식사순지령。급출료다임무계통적임무화분규칙，이용다선정실현료감공연건，분석료동작선정화사순선정적공작류정。
To fulfill the demand for openness, real time and reliability,this paper designed a dis-tributed control system for a glass wall cleaning robot “SkyCleaner IV”.The onboard controller of the robot was consisted of an up controller based on ARM micro controller and two bottom con-trollers based on AVR micro controllers.The in-terface and planning software was designed on a PC.For the safety and openness,the software in the up controller was running on a RTOS μC/OS II,and the robot actions were packaged in a DDL running on the PC.The paper presented the rule of the multi tasks distribution,the method of con-structing a interface and planner based on multi thread.