【摘要】：近年來,機器人在工業(yè)領(lǐng)域上的應(yīng)用已經(jīng)變得日臻成熟與廣泛,而且隨著人們生活水平的提高,如何能讓機器人走進我們?nèi)祟惖娜粘Ｉ钸M而提高人們的生活質(zhì)量已經(jīng)成為機器人領(lǐng)域中的一個熱門研究方向。與此同時,互聯(lián)網(wǎng)的迅速發(fā)展不僅極大的改善了人與人之間溝通的效率和速度,而且也使物聯(lián)網(wǎng)的概念變得更加火熱,人們?nèi)遮呄Ｍ軌蛲ㄟ^自己的移動終端,譬如:手機、平板等設(shè)備來實現(xiàn)對自己家中物品的控制。因此建立一個高效、穩(wěn)定的移動機器人的無線網(wǎng)絡(luò)控制系統(tǒng)具有深遠的意義�，F(xiàn)有關(guān)于移動機器人的研究中,很多通信模塊均采用藍牙、Zigbee等硬件,這無疑極大地限制了移動機器人的應(yīng)用范圍及應(yīng)用方式。本文通過對路由器模塊的引用,使得用戶能夠不僅僅在家中,更能在工作場所等其他區(qū)域通過互聯(lián)網(wǎng)實現(xiàn)對移動機器人的控制,極大地提高了用戶體驗。同時,本文采用的ARM控制芯片STM32較傳統(tǒng)單片機芯片在數(shù)據(jù)處理的數(shù)量及速度方面都有了較大的提高和改善�；谝陨蠋c,本文通過在無線路由器上移植小型的Linux系統(tǒng)Open Wrt,搭建了移動機器人的無線網(wǎng)絡(luò)控制系統(tǒng),并通過該控制系統(tǒng)實現(xiàn)了上位機對移動機器人的控制。另外,針對上位機中采集的圖像顯示不清晰、視頻播放不流暢等問題引入了新的視頻壓縮算法,并引入了Surface View機制,進而使上述問題得到了明顯的改善。本課題的研究采用先硬件后軟件、先下位后上位、先易后難、先部分后整體的循序漸進方法:1)下位機部分:首先,硬件方面:對STM32以及紅外傳感器、舵機等外加模塊的硬件原理圖進行分析總結(jié),熟悉其工作原理和控制方法;其次,軟件方面:完成移動機器人ARM部分控制程序的編寫和調(diào)試。2)無線網(wǎng)絡(luò)控制部分:首先,硬件方面:對TP-Link WR703N模塊的硬件原理圖進行分析總結(jié),熟悉其工作原理和控制方法;其次,軟件方面:熟悉Linux內(nèi)核中Wi Fi模塊和視頻等模塊的實現(xiàn)機制,完成Open Wrt系統(tǒng)的燒寫和配置。3)上位機部分:Android控制程序采用先部分,后整體的思路:首先,依次完成UI界面、Wi-Fi模塊、通信模塊、功能模塊、改進算法模塊、視頻處理等模塊的程序的編寫,最后完成整體程序的結(jié)合與調(diào)試。4)搭建整個移動監(jiān)控機器人的硬件平臺,編譯并燒寫程序到STM32和路由器中,調(diào)試各個模塊,實現(xiàn)其對應(yīng)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.
【學位授予單位】：蘭州理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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