SIA OpenIR  > 工业控制网络与系统研究室
基于无线网络的机器人智能终端的研究
其他题名Research of Robot Intelligent Terminal Based on Wireless Network
蔡钧宇1,2
导师王金涛
分类号TP242
关键词重传算法 延迟预估器 Tcp/ip协议簇 无线网络 安卓系统
索取号TP242/C13/2016
页数59页
学位专业控制理论与控制工程
学位名称硕士
2016-05-25
学位授予单位中国科学院沈阳自动化研究所
学位授予地点沈阳
作者部门其他
摘要传统的机器人示教盒终端一般比较笨重,操作不方便,每个示教盒的成本也很高,而且示教终端与机器人控制器之间是通过有线相连接的,限制了现场的布局,因此设计一个轻便型的机器人示教盒非常有必要。本论文用基于安卓系统的PAD或者手机取代原有的示教盒,示教盒与机器人控制器间的信息传输采用无线通信方式。本系统的设计可以提高人机交互的舒适性并减少机器人的成本。首先,针对机器人示教盒终端笨重的问题,提出了使用工业级安卓系统的PAD或者手机取代原来的示教盒终端,因为安卓系统的PAD和手机一般都是为便于携带而设计的,所以在轻便上有得天独厚的优势,虽然工业级的被设计成三防级别的,但是其依然非常的便捷。安卓系统的最大特点之一就是用户交互特别好,巧妙的利用安卓的各种开源插件可以开发出用户体验良好的界面,对不同的功能,我们都可以单独为其设计一个交互界面,将每个功能进行合理的分类,用户可以通过清晰的途径进入到想要的菜单界面。通常在界面间跳转时需要进行数据传输,在数据传输时做好数据的保护。为需要实时监控的数据设计一个实时显示栏,将其设计在页面的最顶端,实时更新需要实时查看的数据,比如速度、电量、机器人运动状态等。再者先分析一下TCP/IP协议簇在无线局域网下的性能,TCP/IP是一个可靠的传输协议,其有拥塞避免算法、快速重传与快速恢复算法、慢启动算法等,这些算法都是为了保证TCP/IP协议簇在有线互联网环境下保证通信可靠性而设计的,在本系统这种点对点的无线局域网环境下,这些算法反而会增加通信的延时,所以本文分析了各个算法在点对点局域网环境下对网络通信延时的影响,进而对算法进行了相应的改进。分析了机器人指令的特点,主要针对重传算法做了一定的改进,对停止指令单独设计了一套重传算法,结合原有的经典的重传算法构成了TCP/IP协议簇双重重传算法,其目的就是让机器人能够尽快的收到停止指令并停止运动。实验结果表明,在无线网络链路误码率较高的情况下,通过延时预估器和网络通信重传算法相结合,机器人在变延时的情况下仍能够安全稳定的运行。最后,提出了机器人最大延迟预估器模型框架。本文已经通过改进TCP/IP协议簇来尽可能的减少网络的延时,但是网络依然是不稳定的。在此情况下在机器人端提出了延迟预估器模型,该模型给出一个延迟限值,当数据包传输超过这个限值时,机器人就会停止运动,保证机器人的运行精度。延迟限值也会周期性的跟随网络环境的变化而变化,更新算法的核心是在保证机器人稳定运行的前提下,尽可能的保证机器人的运行精度,这个周期取为30个数据包。
其他摘要The traditional robot teaching box terminals are cumbersome and inconvenient to operate,the teaching terminal and the robot controller is connected through the wired connection, limiting the layout of the site. And each teaching box is also very high cost, so this design program requires a new light type of teaching system to replace. In this paper, we use the PAD or mobile phone based on Android system to replace the original teaching box. Then the information transmission between the teaching box terminal and the robot controller is carried out by means of wireless communication. The design of the system can improve the comfort of human computer interaction and reduce the cost of the robot. Firstly, according to the robot teaching box terminal cumbersome problem, proposed the use of industrial grade Android system PAD or mobile phone to replace the original teaching box terminal. Because the pad and Android mobile phones are usually designed for portable carrying, so in the light has a unique advantage, although industrial grade is designed to level three, but they still very convenient. Android system’s one of the biggest features of the user interaction is particularly good, clever use of Android's various open source plug-ins can develop a very nice interface, for different functions, we can design an interactive interface for each function, as long as each function of classification, users can clear access to the user interface they want. Usually requires data transfer between the interface when the jump, need to do a good job of data protection in the data transmission. Design a real time display for the data that needs to be monitored in real time, This real time display bar is designed to be at the top of the page, in real time to update the data that needs to be viewed in real time, such as speed, power, robot movement state, etc.. Secondly, Analysis of the performance of TCP/IP protocol cluster in wireless local area network, TCP/IP is a reliable transmission protocol, which has the congestion avoidance algorithm, fast retransmission and fast recovery algorithm, slow start algorithm, etc., all of these algorithms are designed to ensure the reliability of the TCP/IP protocol in the wired internet environment. In this system, the point of the wireless LAN environment, these algorithms will increase the delay of the communication, So in this paper, we analyze the impact of each algorithm on the network communication delay in point to point local area network, and then improve the algorithm. The characteristics of the robot instructions are analyzed, and some improvements are made to the algorithm, a retransmission algorithm is designed to the stop instruction, in combination with the original classical retransmission algorithm, TCP/IP protocol cluster double retransmission algorithm is formed. Its purpose is to allow the robot to receive the stop instruction as soon as possible to the robot. Experimental results show that, in the case of high bit error rate of wireless network link, through the combination of robot delay predictor and TCP double retransmission algorithm, the robot can still run safely and stably in the case of variable time delay. At last, a basic framework of robot delay predictor was put forward. This paper is through improved TCP/IP protocols to minimize network delay, but the network is still not stable. In this case at the end of the robot proposed delay prediction model, the model gives a delay limit, when a data packet transmission exceeds the limit value, the robot will stop motion, guarantee the operation accuracy of the robot. Delay limit will cycle to follow changes in the network environment changes and update the core of the algorithm is to ensure the stable operation of the robot under the premise, as far as possible to ensure the robot's running accuracy, this cycle take 30 data package.
语种中文
产权排序1
文献类型学位论文
条目标识符http://ir.sia.cn/handle/173321/19611
专题工业控制网络与系统研究室
作者单位1.中国科学院沈阳自动化研究所
2.中国科学院大学
推荐引用方式
GB/T 7714
蔡钧宇. 基于无线网络的机器人智能终端的研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2016.
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