基于Linux的移动机器人无线网络控制系统的设计与研究

发布时间：2018-08-29 11:12

【摘要】：近年来,机器人在工业领域上的应用已经变得日臻成熟与广泛,而且随着人们生活水平的提高,如何能让机器人走进我们人类的日常生活进而提高人们的生活质量已经成为机器人领域中的一个热门研究方向。与此同时,互联网的迅速发展不仅极大的改善了人与人之间沟通的效率和速度,而且也使物联网的概念变得更加火热,人们日趋希望能够通过自己的移动终端,譬如:手机、平板等设备来实现对自己家中物品的控制。因此建立一个高效、稳定的移动机器人的无线网络控制系统具有深远的意义。现有关于移动机器人的研究中,很多通信模块均采用蓝牙、Zigbee等硬件,这无疑极大地限制了移动机器人的应用范围及应用方式。本文通过对路由器模块的引用,使得用户能够不仅仅在家中,更能在工作场所等其他区域通过互联网实现对移动机器人的控制,极大地提高了用户体验。同时,本文采用的ARM控制芯片STM32较传统单片机芯片在数据处理的数量及速度方面都有了较大的提高和改善。基于以上几点,本文通过在无线路由器上移植小型的Linux系统Open Wrt,搭建了移动机器人的无线网络控制系统,并通过该控制系统实现了上位机对移动机器人的控制。另外,针对上位机中采集的图像显示不清晰、视频播放不流畅等问题引入了新的视频压缩算法,并引入了Surface View机制,进而使上述问题得到了明显的改善。本课题的研究采用先硬件后软件、先下位后上位、先易后难、先部分后整体的循序渐进方法:1)下位机部分:首先,硬件方面:对STM32以及红外传感器、舵机等外加模块的硬件原理图进行分析总结,熟悉其工作原理和控制方法;其次,软件方面:完成移动机器人ARM部分控制程序的编写和调试。2)无线网络控制部分:首先,硬件方面:对TP-Link WR703N模块的硬件原理图进行分析总结,熟悉其工作原理和控制方法;其次,软件方面:熟悉Linux内核中Wi Fi模块和视频等模块的实现机制,完成Open Wrt系统的烧写和配置。3)上位机部分:Android控制程序采用先部分,后整体的思路:首先,依次完成UI界面、Wi-Fi模块、通信模块、功能模块、改进算法模块、视频处理等模块的程序的编写,最后完成整体程序的结合与调试。4)搭建整个移动监控机器人的硬件平台,编译并烧写程序到STM32和路由器中,调试各个模块,实现其对应功能。
[Abstract]:In recent years, the application of robots in industry has become more and more mature and extensive. With the improvement of people's living standards, how to let robots into our daily life and improve people's quality of life has become a hot research direction in the field of robots. At the same time, the rapid development of the Internet. The exhibition not only greatly improves the efficiency and speed of interpersonal communication, but also makes the concept of the Internet of Things more popular. People are increasingly hoping to control their own home items through their mobile terminals, such as mobile phones, tablets and other devices. The network control system is of far-reaching significance. In the current research on mobile robots, many communication modules adopt Bluetooth, Zigbee and other hardware, which undoubtedly greatly limits the application scope and mode of mobile robots. At the same time, the ARM control chip STM32 used in this paper has greatly improved the amount and speed of data processing compared with the traditional single chip microcomputer chip. Based on the above points, this paper ports a small-scale wireless router. Open Wrt, a Linux system, builds a wireless network control system for mobile robots, and realizes the control of mobile robots by the host computer through this control system. In addition, a new video compression algorithm is introduced to solve the problems of unclear display of images captured by the host computer, and video playback is not smooth. The research of this subject adopts the step-by-step method of first hardware and then software, first hypogyny and then upper, first easy and then difficult, first part and then whole: 1) The hypogyny part: First, the hardware aspect: the hardware schematic diagram of STM32, infrared sensor, steering gear and other additional modules is analyzed and summarized, so as to be familiar with its work. Principle and control method; secondly, software: ARM part of the mobile robot control programming and debugging. 2) wireless network control part: First, hardware: TP-Link WR703N module hardware schematic analysis and summary, familiar with its working principle and control method; secondly, software: familiar with the Linux kernel Wi Fi module And video module implementation mechanism, complete the burning and configuration of the Open Wrt system. 3) PC part: Android control program uses the first part, then the overall idea: First, complete the UI interface, Wi-Fi module, communication module, functional modules, improved algorithm module, video processing module programming, and finally complete the overall program Combining and debugging. 4) Build the hardware platform of the whole mobile monitoring robot, compile and burn the program to STM32 and router, debug each module to realize its corresponding functions.
【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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