基于ROS构建物联网环境的应用研究

发布时间：2018-02-12 19:50

本文关键词： 物联网 ROS 体系架构单点故障沥青路面摊铺施工系统　出处：《合肥工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：目前物联网技术的发展瓶颈在于缺乏一个统一的体系架构。由于物联网底层传感器的种类繁多,其网络连接技术也存在着多种标准和技术,使得物联网很难形成规模性产业。因此,需要设计一个能够完整反映出物联网系统实现中的功能集划分、组网方式、互操作接口、管理模型等的通用的物联网系统架构模型,来屏蔽底层的复杂性,使得开发者能够容易地开发出新的复杂应用。构建一个通用的规范化的物联网体系架构,才能有利于物联网的标准化和产业化。本文研究的是将ROS机器人操作系统作为构建物联网的体系架构。文中分析了 ROS的点对点的通信方式和主节点管理节点地址等特点在物联网环境中的适用性,以及ROS跨平台、跨语言和具有用户基础等特性所具有的优势;同时,文中讨论了 ROS应用于物联网环境时的对IPv6的支持、命名空间规范、安全和隐私保护机制、应用于嵌入式设备等问题,以及指出了 ROS点对点通讯方式和单个主节点特性在物联网环境中的优势和不足。并针对ROS的单点故障问题、设备的高带宽问题和节点到主节点连接的可靠性问题提出了相应的改进方案,使得ROS更好地使用在大型多设备的复杂物联网环境中。最后,本文将基于ROS的物联网技术应用于沥青路面摊铺施工实施系统的项目中。从传统的物联网结构的感知层、网络层、应用层分析设计了该施工系统,并将ROS作为该系统的体系架构。其中每台摊铺机单元和压路机单元智能设备作为ROS系统中的节点,并将主节点搭建在其中一台摊铺机上,利用局域网络和3G/4G网络实现节点间可以相互通讯的ROS网络。
[Abstract]:At present, the bottleneck of the development of the Internet of things technology lies in the lack of a unified architecture. Because of the wide variety of sensors in the bottom layer of the Internet of things, there are also many standards and technologies in the network connection technology. Therefore, it is necessary to design a general architecture model of the Internet of things that can reflect the function set partition, networking mode, interoperation interface, management model and so on in the implementation of the Internet of things system. To shield the underlying complexity so that developers can easily develop new complex applications. This paper studies the ROS robot operating system as the architecture of the Internet of things. This paper analyzes the point-to-point communication mode of ROS and the site of the master node management node. The applicability of features such as address in the Internet of things environment, At the same time, this paper discusses the support for IPv6, namespace specification, security and privacy protection mechanism when ROS is applied to the Internet of things environment. In this paper, the advantages and disadvantages of ROS point-to-point communication mode and single master node in the Internet of things environment are pointed out, and the single point fault problem of ROS is pointed out. The high bandwidth problem of equipment and the reliability problem of node to master node connection are improved, which makes ROS be better used in the complex Internet of things environment of large multi-device. Finally, In this paper, the technology of Internet of things based on ROS is applied to the project of asphalt pavement paving construction implementation system. The construction system is designed by analyzing the perceptual layer, the network layer and the application layer of the traditional structure of the Internet of things. The ROS is taken as the architecture of the system. The intelligent equipment of each paver unit and road roller unit is used as the node in the ROS system, and the master node is built on one of the pavers. The local area network and 3G / 4G network are used to realize the ROS network which can communicate with each other.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.44;TN929.5

【参考文献】