Abstract: Aiming at the high cost ，poor real-time capability and other issues of mobile robot controllers for implementing many functions ,such as the motion control, network communication, multimedia UI interaction ,the device remote monitored control and so on, a hybrid controller scheme was put forward herein that multi-core heterogeneous microcontroller combined with Android mobile devices and finished a prototype system. The system adopted the management-oriented multi-microcontroller motion control systems and signal acquisition systems which connected with Android mobile devices through the OTG. Android mobile devices implemented multimedia UI interaction, WiFi and WiFi Direct communication, image transmission and the monitor data of device state transmission and processing. The server implemented storages and applications of device state data. The prototype system was verified to be fine, and reached the goals of design by tests.

Key words: mobile robot, hybrid controller, Android mobile device, monitoring system , management-oriented multi-microcontroller

摘要： 针对移动式服务机器人控制系统需要具备运动控制、网络通信、多媒体UI交互及设备远程监控等多种功能而导致成本高昂、实时性差等问题，提出了多核异构微控制器与Android移动设备相结合的混合控制器方案并实现了原型系统。该系统采用面向管理的多微控制器运动控制系统与信号采集系统，通过OTG与Android移动设备连接，可使得Android移动设备完成多媒体UI交互、WiFi及WiFi Direct通信、图像传输以及设备状态监控数据传输与处理;服务器端实现了设备状态数据的存储与应用。经过测试，样机整体性能良好，达到了预期的设计目标。

关键词: 移动机器人, 混合控制器, Android移动设备, 监控系统, 面向管理的多微控制器