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.
贾永刚,程志勇,郭锐,等. 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[J]. 科学技术与工程, 2016, 16(7): .
贾永刚,, and. Development of embedded control system of cleaning robot for overhead electrical powerline and experiments[J]. Science Technology and Engineering,2016,16(7).