【摘要】：在農(nóng)業(yè)生產(chǎn)領(lǐng)域，單個(gè)機(jī)器人執(zhí)行任務(wù)時(shí)的缺點(diǎn)越來(lái)越明顯，為此，有關(guān)學(xué)者已經(jīng)開(kāi)始對(duì)農(nóng)業(yè)多機(jī)器人系統(tǒng)相關(guān)技術(shù)進(jìn)行研究。本文針對(duì)國(guó)內(nèi)農(nóng)業(yè)多機(jī)器人系統(tǒng)通信技術(shù)研究較為缺乏的現(xiàn)狀，，以最終建立小麥聯(lián)合收割機(jī)多機(jī)器人無(wú)線(xiàn)通信系統(tǒng)為出發(fā)點(diǎn)，分析了當(dāng)前農(nóng)業(yè)機(jī)器人無(wú)線(xiàn)通信技術(shù)的技術(shù)內(nèi)涵及其應(yīng)用現(xiàn)狀；通過(guò)理論分析、實(shí)地測(cè)試和模擬仿真相結(jié)合的方法探討農(nóng)業(yè)多機(jī)器人系統(tǒng)的通信范圍和信道特征；在研究相關(guān)通信協(xié)議的基礎(chǔ)上，建立了小麥?zhǔn)崭顧C(jī)多機(jī)器人無(wú)線(xiàn)通信系統(tǒng)、設(shè)計(jì)了通信協(xié)議并編寫(xiě)了相關(guān)無(wú)線(xiàn)通信軟件。 本文主要研究工作和結(jié)果如下： （1）深入分析了WPAN、WLAN、WIMAX和WMAN的技術(shù)特點(diǎn)及其在農(nóng)業(yè)機(jī)器人領(lǐng)域內(nèi)的應(yīng)用現(xiàn)狀；提出無(wú)線(xiàn)通信技術(shù)在農(nóng)業(yè)機(jī)器人領(lǐng)域具有四個(gè)應(yīng)用層次；指出農(nóng)業(yè)機(jī)器人無(wú)線(xiàn)通信技術(shù)的應(yīng)用水平要遠(yuǎn)遠(yuǎn)落后于無(wú)線(xiàn)通信技術(shù)自身的發(fā)展水平，而構(gòu)建高性能WLAN應(yīng)當(dāng)是目前研究農(nóng)業(yè)多機(jī)器人無(wú)線(xiàn)通信系統(tǒng)的關(guān)鍵。 （2）根據(jù)小麥聯(lián)合收割機(jī)多機(jī)器人系統(tǒng)通信條件比較模糊的特點(diǎn)，通過(guò)分析多機(jī)器人系統(tǒng)的不同隊(duì)形建立了有效通信范圍的計(jì)算公式；運(yùn)用信道實(shí)測(cè)和曲線(xiàn)擬合方法建立了百分比信號(hào)強(qiáng)度以及傳輸速率關(guān)于距離的傳播模型，通過(guò)對(duì)麥田、平地和空中三種不同情況的比較，探討了農(nóng)作物對(duì)無(wú)線(xiàn)信號(hào)的影響。 （3）通過(guò)NS2無(wú)線(xiàn)仿真，建立了運(yùn)動(dòng)條件下無(wú)線(xiàn)信道的丟包率、時(shí)延和吞吐量等特性參數(shù)關(guān)于距離的瞬時(shí)傳播特性，并探討了速度對(duì)無(wú)線(xiàn)傳輸質(zhì)量的影響。以上工作明確了農(nóng)業(yè)多機(jī)器人系統(tǒng)的通信范圍和通信性能，為建立農(nóng)業(yè)多機(jī)器人無(wú)線(xiàn)通信系統(tǒng)提供了理論指導(dǎo)。 （4）在深入研究WLAN傳輸協(xié)議的基礎(chǔ)上，建立了多機(jī)器人Soft AP通信結(jié)構(gòu)�；赟ocket編程原理設(shè)計(jì)了該系統(tǒng)的通信協(xié)議和會(huì)話(huà)流程、設(shè)計(jì)了領(lǐng)航和跟隨收割機(jī)的通信界面并編寫(xiě)了內(nèi)核程序，最后完成了程序調(diào)試。程序調(diào)試與試運(yùn)行結(jié)果表明：該軟件能夠很好的實(shí)現(xiàn)有中心的多機(jī)器人系統(tǒng)的雙向數(shù)據(jù)傳輸，其特點(diǎn)適用于小麥聯(lián)合收割機(jī)多機(jī)器人系統(tǒng)。
[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.
【學(xué)位授予單位】：西北農(nóng)林科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：TN92;TP242

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