根据Matlab2021a中Stateflow的任务7Project-Robotic Vacuum开始构建扫地机器人
Robotic Vacuum Supervisory Control(机器人真空监控)
Robotic Vacuums(机器人真空吸尘器)
Autonomous, robotic vacuums generally have a few specific operating modes, like vacuuming or charging. In this project, you will model a robotic vacuum that has four modes: off, vacuuming, docking, and charging.
(自动机器人吸尘器通常有一些特定的操作模式,比如吸尘或充电。在这个项目中,你将为一个机器人真空吸尘器建模,他有四种模式:关闭、抽真空、对接和充电。)
Certain rules govern how the robot can move between these modes. For example, it can be vacuuming and be turned off, but it cannot go from vacuuming to charging without docking first.
(某些规则控制着机器人如何在这些模式之间移动。例如,它可以抽真空并关闭,但如果先不对接,他就无法从抽真空到充电。)
These modes, and the rules for moving between them, can be modeled using a state machine. In this project, imagine that you are a control engineer, tasked with designing the supervisory logic for the robotic vacuum. You will then connect this Stateflow chart to Simulink subsystems, provided by the plant modeling team, that describe the dynamics of the robot as it performs tasks.
(这些模式以及在它们之间移动的规则可以使用状态机进行建模。在这个项目中,假设你是一名控制工程师,负责设计机器人真空的监控逻辑。然后,您将把这个状态流程图连接到工厂建模团队提供的Simulink子系统,这些子系统描述了机器人执行任务时的动力学。)
Design Requirements(设计要求)
The design requirements for your robotic vacuum are as follows.(您的机器人真空吸尘器的设计要求如下。)
·There will be 4 states: off, vacuuming, docking, and charging.(将有4中状态:关闭、抽真空、对接和充电。)
·The user can manually set the robot to off, vacuuming, or docking.(用户可以手动将机器人设置为关闭、抽真空或对接。)
·Charging begins as soon as docking is complete.(对接完成后立即开始充电。)
·After the robo