低功耗的机器人无线手持控制器的研究与开发

发布时间：2018-05-19 04:01

本文选题：射频 + 手持终端　；参考：《天津工业大学》2017年硕士论文

【摘要】：随着无线传输的发展,无线数据传输越来越多的应用在工业,农业以及生产生活中。而在工业生产中,机器人可以代替人工作在野外以及更恶劣的环境中,而控制机器人运行的手持控制器则是采用电池供电,如何选择合适的电池,如何降低系统的功耗,成为研究的关键。针对传统的有线式手持控制器布线难,功耗大,数据传输时误差大等问题,本文设计了一款基于嵌入式射频无线收发一体型芯片的无线手持控制器。该控制器实现了低功耗,提高了设备的灵活性,降低了数据传输的误码率。该控制器采用stm32f051系列微处理器为中央处理器,利用nRF905为无线收发模块进行数据传输。实验测试结果表明,在20米的范围内,数据传输过程中误码率随着距离的增加而增加,但是不大于0.0002,测得手持控制器的电池在连续运行状态下,可以持续供电14个小时,处于休眠状态下电池可以持续供电约29天,满足最初的要求。本文主要在硬件设计以及软件程序两个方面对控制器进行了研究。该控制器采用Coretex-M0内核的ARM芯片作为系统的主控制器,该芯片具有体积小,功耗低的特点,非常适合应用在无线便携式领域。系统数据传输模块是整个系统的关键,在经过多种不同的无线芯片比较之后,最终选用的是nRF905无线模块。该模块能够在三个不同的频率下传输数据,这对增加数据传输过程中的抗干扰性具有非常重要的作用,同时为以后应用跳频技术奠定了基础。在软件程序开发的过程中,针对不同的功能,分成不同模块进行设计,这样能够增加软件程序的可读性,同时加快了软件程序的开发。在程序中定义的用户层主要来完成主函数以及中断函数的配置。在数据传输过程中涉及到的各种数据传输协议,需在用户协议层来完成各个数据传输协议的编写。由于在程序开发的过程中,直接调用库函数,所以程序的开发速度相对快。最终试验测试结果表明,设计的手持控制器具有功耗低、可靠性高、操作简便、成本低的特点。
[Abstract]:With the development of wireless transmission, wireless data transmission is more and more used in industry, agriculture and production. In industrial production, robots can work in the wild instead of humans and in worse environments, while handheld controllers that control the operation of robots are powered by batteries, how to choose the right batteries, and how to reduce the power consumption of the system. Become the key to the research. Aiming at the problems of difficult wiring, high power consumption and large error in data transmission, a wireless handheld controller based on embedded RF wireless transceiver integrated chip is designed in this paper. The controller achieves low power consumption, improves the flexibility of the device and reduces the bit error rate of data transmission. The controller uses stm32f051 series microprocessors as central processor and nRF905 as wireless transceiver module for data transmission. The experimental results show that in the range of 20 meters, the bit error rate increases with the increase of the distance, but not more than 0.0002. The battery of the hand-held controller can supply power continuously for 14 hours in the continuous operation. In dormant state, the battery can supply power continuously for about 29 days, meeting the initial requirements. In this paper, the hardware design and software program of the controller are studied. The controller uses the ARM chip of the Coretex-M0 core as the main controller of the system. The chip has the characteristics of small size and low power consumption, so it is very suitable for wireless portable applications. The system data transmission module is the key of the whole system. After many different wireless chips are compared, the nRF905 wireless module is selected. The module can transmit data at three different frequencies, which plays an important role in increasing the anti-interference in the process of data transmission. It also lays a foundation for the application of FH technology in the future. In the process of software program development, different functions are divided into different modules, which can increase the readability of software program and accelerate the development of software program. The user layer defined in the program mainly completes the configuration of the main function and interrupt function. In the process of data transmission, all kinds of data transfer protocols need to be written in the user protocol layer. Because in the process of program development, the library function is called directly, so the development speed of the program is relatively fast. The final test results show that the handheld controller has the advantages of low power consumption, high reliability, simple operation and low cost.
【学位授予单位】：天津工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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