农业多机器人系统无线通信技术研究
发布时间：2019-07-04 13:58
【摘要】：在农业生产领域，单个机器人执行任务时的缺点越来越明显，为此，有关学者已经开始对农业多机器人系统相关技术进行研究。本文针对国内农业多机器人系统通信技术研究较为缺乏的现状，，以最终建立小麦联合收割机多机器人无线通信系统为出发点，分析了当前农业机器人无线通信技术的技术内涵及其应用现状；通过理论分析、实地测试和模拟仿真相结合的方法探讨农业多机器人系统的通信范围和信道特征；在研究相关通信协议的基础上，建立了小麦收割机多机器人无线通信系统、设计了通信协议并编写了相关无线通信软件。 本文主要研究工作和结果如下： （1）深入分析了WPAN、WLAN、WIMAX和WMAN的技术特点及其在农业机器人领域内的应用现状；提出无线通信技术在农业机器人领域具有四个应用层次；指出农业机器人无线通信技术的应用水平要远远落后于无线通信技术自身的发展水平，而构建高性能WLAN应当是目前研究农业多机器人无线通信系统的关键。 （2）根据小麦联合收割机多机器人系统通信条件比较模糊的特点，通过分析多机器人系统的不同队形建立了有效通信范围的计算公式；运用信道实测和曲线拟合方法建立了百分比信号强度以及传输速率关于距离的传播模型，通过对麦田、平地和空中三种不同情况的比较，探讨了农作物对无线信号的影响。 （3）通过NS2无线仿真，建立了运动条件下无线信道的丢包率、时延和吞吐量等特性参数关于距离的瞬时传播特性，并探讨了速度对无线传输质量的影响。以上工作明确了农业多机器人系统的通信范围和通信性能，为建立农业多机器人无线通信系统提供了理论指导。 （4）在深入研究WLAN传输协议的基础上，建立了多机器人Soft AP通信结构。基于Socket编程原理设计了该系统的通信协议和会话流程、设计了领航和跟随收割机的通信界面并编写了内核程序，最后完成了程序调试。程序调试与试运行结果表明：该软件能够很好的实现有中心的多机器人系统的双向数据传输，其特点适用于小麦联合收割机多机器人系统。
[Abstract]:In the field of agricultural production, the shortcomings of a single robot in carrying out tasks are becoming more and more obvious. therefore, scholars have begun to study the related technologies of agricultural multi-robot system. In view of the lack of research on communication technology of agricultural multi-robot system in China, this paper analyzes the technical connotation and application status of agricultural robot wireless communication technology based on the final establishment of wheat combine harvester multi-robot wireless communication system, and discusses the communication range and channel characteristics of agricultural multi-robot system through theoretical analysis, field test and simulation. On the basis of studying the related communication protocols, the multi-robot wireless communication system of wheat harvester is established, the communication protocol is designed and the related wireless communication software is written. The main research work and results of this paper are as follows: (1) the technical characteristics of WPAN,WLAN,WIMAX and WMAN and their application in the field of agricultural robot are deeply analyzed, and it is proposed that wireless communication technology has four application levels in the field of agricultural robot. It is pointed out that the application level of agricultural robot wireless communication technology lags far behind the development level of wireless communication technology itself, and the construction of high performance WLAN should be the key to the research of agricultural multi-robot wireless communication system at present. (2) according to the fuzzy communication conditions of the multi-robot system of wheat combine harvester, the calculation formula of the effective communication range is established by analyzing the different formation of the multi-robot system. The propagation model of percentage signal intensity and transmission rate on distance is established by means of channel measurement and curve fitting. The influence of crops on wireless signal is discussed by comparing three different conditions: wheat field, flat ground and air. (3) through NS2 wireless simulation, the instantaneous propagation characteristics of packet loss rate, delay and throughput of wireless channel with respect to distance are established, and the influence of speed on wireless transmission quality is discussed. The above work clarifies the communication range and performance of agricultural multi-robot system, and provides theoretical guidance for the establishment of agricultural multi-robot wireless communication system. (4) based on the in-depth study of WLAN transmission protocol, the multi-robot Soft AP communication structure is established. Based on the principle of Socket programming, the communication protocol and session flow of the system are designed, the communication interface of pilotage and following harvester is designed, and the kernel program is written. Finally, the program debugging is completed. The results of program debugging and trial operation show that the software can realize the bidirectional data transmission of the central multi-robot system, and its characteristics are suitable for the multi-robot system of wheat combine harvester.
【学位授予单位】：西北农林科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN92;TP242
本文编号：2509965
[Abstract]:In the field of agricultural production, the shortcomings of a single robot in carrying out tasks are becoming more and more obvious. therefore, scholars have begun to study the related technologies of agricultural multi-robot system. In view of the lack of research on communication technology of agricultural multi-robot system in China, this paper analyzes the technical connotation and application status of agricultural robot wireless communication technology based on the final establishment of wheat combine harvester multi-robot wireless communication system, and discusses the communication range and channel characteristics of agricultural multi-robot system through theoretical analysis, field test and simulation. On the basis of studying the related communication protocols, the multi-robot wireless communication system of wheat harvester is established, the communication protocol is designed and the related wireless communication software is written. The main research work and results of this paper are as follows: (1) the technical characteristics of WPAN,WLAN,WIMAX and WMAN and their application in the field of agricultural robot are deeply analyzed, and it is proposed that wireless communication technology has four application levels in the field of agricultural robot. It is pointed out that the application level of agricultural robot wireless communication technology lags far behind the development level of wireless communication technology itself, and the construction of high performance WLAN should be the key to the research of agricultural multi-robot wireless communication system at present. (2) according to the fuzzy communication conditions of the multi-robot system of wheat combine harvester, the calculation formula of the effective communication range is established by analyzing the different formation of the multi-robot system. The propagation model of percentage signal intensity and transmission rate on distance is established by means of channel measurement and curve fitting. The influence of crops on wireless signal is discussed by comparing three different conditions: wheat field, flat ground and air. (3) through NS2 wireless simulation, the instantaneous propagation characteristics of packet loss rate, delay and throughput of wireless channel with respect to distance are established, and the influence of speed on wireless transmission quality is discussed. The above work clarifies the communication range and performance of agricultural multi-robot system, and provides theoretical guidance for the establishment of agricultural multi-robot wireless communication system. (4) based on the in-depth study of WLAN transmission protocol, the multi-robot Soft AP communication structure is established. Based on the principle of Socket programming, the communication protocol and session flow of the system are designed, the communication interface of pilotage and following harvester is designed, and the kernel program is written. Finally, the program debugging is completed. The results of program debugging and trial operation show that the software can realize the bidirectional data transmission of the central multi-robot system, and its characteristics are suitable for the multi-robot system of wheat combine harvester.
【学位授予单位】：西北农林科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN92;TP242
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