外文翻译--无线串行通信实现的移动机器人网络遥操作系统.doc

学校代码： 10128学 号 200910107047 本科毕业设计（论文）外文文献翻译（题 目：基于VC+的PC机与PLC串口通讯的实现学生姓名：樊海乐 学 院：机械学院系 别：测控系专 业：测控技术与仪器班 级：测控09-2指导教师：黄凯征 讲师/博士二 一 三 年 六 月外文原文A Networked Teleoperation System for Mobile Robot with Wireless Serial CommunicationLei Zhang, Member，IEEE, Zhixin Chen,Jia Wang and Shitian YanAbstractThis paper presents a teleoperation system to control mobile robot remotely. A wireless serial communication card is used to propagate information. RF single chip is used to build the serial communnication card. As a translucent communication parts, this card connect the control computer with the excutive motors under control. Finally the effectiveness of the teleopera-tion system is illustrated by experiments.I. INTRODUCTIONIn teleoperation system for mobile robot, navigation is always executed by the operator located far away from the robot. It is an important element in the task like rescue or reconnaissance etc., which executed by the tele-operated robot instead of human. Because the operator should be aware of enough information of the robot and environment of its working to estimate the status and get the exact command for the robot, situation awareness is regarded as the most pivotal factor in the navigation 1-13.Many kinds of tele-operated robot systems are provided with the situation awareness to finish the work. Visual information is widely adopted in most of these systems 14.Real video feedback is believable but not always enough, for example, in the smoky area. Also only by the camera equipped in the robot which is named as eyes of the robot,operator would know little about the situation behind a corner.or the overall worksite. In teleoperating a remote robot,multiple viewpoints are necessary for operator to get sufficient situation awareness.Situation awareness need enough information from the robot. And to control the robot, the order must be transmit to the robot by a remote way. Many systems used the computer card to do this work. In these kind of system, the main computer must deal with much information in the information transmit task. In this paper, we use a kind of RF chip to configure the information transmit task.This paper is organized as follows. In section 2 we describe developed mobile robot BCAR-01. Section 3 presents the control structure and the remote cockpit for it.Section 4 provides the method to organize the hardware of the communication card. Section 5 described the software of the system. The experiment and the conclusion are given in section 6 and 7 respectively.II. THE MOBILE ROBOT BCAR-01Mobile robot “BCAR-01” (figure 1) is designed for security scout, building inspection etc. Especially, in a building which is danger but not has been destroyed,the robot can complete the searching work instead of human. By the sensors system in the robot, the environment information like temperature or humidity could be collected 15-16.Two driving wheels are driven by DC motors respectively which are symmetrically equipped on the underpan. Anothertwo supporting wheels are installed perpendicular to the driving wheels axis to keep the body balance in level. The total weight with a pile is 32kg. The maxim speed is 2m/s. With full charged batteries, the robot can work for about 2 hours incessantly. The motors power is 180W, so the robot can load about 40kg.Main parameters of the robot are shown in the table1.TABLE 1Type PARAMETERS of RobotFiguration16 surface cylinderTip height410mmSoleplate height80mmDiameter485mmDriving wheel distance255mmDriving wheel diameter318mmWith the deeply research, we changed the control system of the mobile robot. Now, a PC104 computer is used as control center. All the control command and sensor information in the system are disposed in this computer. Four kinds of hardware module are equipped in the PC104 computer to execute the control and detecting work. Firstly,DC motor control system is built in the control center computer. Two wheels of the robot with swing arm are driven by these DC motors. Secondly, two cameras with control system are equipped on this computer. The focus of the camera could be adjusted respectively. Each camera is equipped on a two DOF bracket. By changing the bracket angles, the view direction could be changed. Bracket control system is integrated in the PC104 computer. Thirdly,multi-sensors information are collected by the data processing card which is a accessory card in the PC104 computer. Finally, Communication card is adopted in the control center system to build up the network of the whole communication system.Fig.1 Control system for the mobile robotBy the difference wheel speed control, the robot can swerve in origin or in a certain radius. The kinematics model of the robot is shown in figure 2.Fig.2 Kinematics model of the mobile robot “BCAR-01”.We define S1 and S2 as the velocity of two wheels. In the single swerve status, the two wheels velocity could satisfy with the equation followed: (1)Here r denotes the distance between the two wheels. And R is the swerve radius. In a certain time, the robot turn angle in certain direction by the difference velocity. The equation could be changed as: (2) In (2), r is constant, which is 255mm in this robot. The ngle velocity of the robot could be expressed as: (3)From the (2) and (3), we can conclude that to control the robot turn angel with the radius R could be gotten by the appropriate proportion between the two wheels difference velocity. But as the slipping error and other reason, the actual numerical value for control should be adjusted real time.III. THE TELEOPERATION SYSTEM FOR MOBILE ROBOT BCAR-01The robot teleoperation system consisted of control master, communication channel and robot system. Operator,joystick with force feedback and portable computer constitute the control master. Communication channel include the wireless network AP, master side network card, slave side network card, embed communication server and video server.The robots are made up of carrier system, controller and navigation system, sensors and apperceive system.Fig.3 Teleoperation for the Mobile RobotThe whole system soft structure is Client/Server structure. Robot control computer is the Server. It wait for the command from the control master and control the DC motor etc. to finish the teleoperation instruction. Control master is the Client. All client which want to control the robot can send a request to ask for the robot server. So one robot can receive multiple control master command, but the Server time should be distributed reasonably. Also, multi-robot can be controlled by the same operator. Communication between the master side and the robot is based on the 802.11g protocol. Multiple kinds information are communicated by the communication channel. Two communication cards are equipped in the robot and control master computer respectivelyIn the master site, a cockpit with multiple kinds of interfaces is used. The operator can use the joystick or keyboard to input the commands. These commands information is coded and send to the robot. At the same time,the cockpit displays feedback information in different format.That is the GPS information, gyro information etc. To reappear the situation information of the robot in the worksite, two kinds of telepresence system are adopted. Force telepresence is used to play the feedback information on the joystick. By the force joystick, the operator could feel the situation of the robot. Visua telepresence could display a predictive virtual scene and a real time video in virtual visual form the robot side.The carrier system is a minitype mobile robot with four pedrail. Two cameras are equipped on the robot. One is for sensing, which has the small focus and widely visual field.Another is for task, which has a big focus, and narrowly visual field. These two cameras are used as the sensors of the robot. Mobile robot has been equipped with the distance sensor and force sensor as to apperceive the force feedback.IV. HARDWARE OF THE WIRELESS SERIAL COMMUNICATION CARDAs mentioned above, the motors are driven by the drivers which are controlled by the PC104 card computer. Another way is to transmit the orders by the wireless way but not direct hardware link. This kind of control style could improve the efficiency of the PC104 computer.We use wireless transceiver systems as our hardware part,which composed of the single chip and RF modules, that is,AT89S52 single chip and nRF2401.It contains four parts: RF modulesMCUInterface circuit and power supply part.A. RF modulesRF circuit system is composed of nRF2401 and a number of external components. As the following figure, it is mainly consisted of the amplifier, crystal oscillator and modulator.nRF external transceiver includes RF front-end ( the antenna matching network), and phase-locked loop PLL circuit (including crystal oscillators, VCO and loop filter circuit inductance). As the external components is the key elements to achieve the function of nRF 2401, the quality and accuracy of these components can directly impact on the overall performance of the device.We use the reference circuit given by the Nord Company for the power of nRF2401. C5, C6 are the decoupled capacitors. The antenna part of the reference circuit uses a horizontal antenna, so it occupies a larger space. But now, in the field of wireless communications, we often use inverted F antenna. Inverted F antenna is closer. The bandwidth is moderate and it is not easy to damage, but also it absorbs a smaller power compared with whip-type antenna. Therefore,in this design we use inverted F antenna which is shown in Fig.5. The matching network is consisted of L1, L2, C3, C4,C9, and C10.B. The design of the control part of the single chipThe single chip communicates with the wireless communication module through the serial port in this system.After the wireless transceiver system received the data, it will be transmitted to the single chip through the serial port. At thesame time, some other control command will be sent by the single chip. Similarly, at the time when the system sends data,the control command will be sent to the wireless communication module through the serial port by this single chip and then be sent out using the wireless communication module.Fig.4 Configuration of the nRF2401Since nRF2401 uses DRI, CLK and DATA, the three wires to implement transmission and considering the factor of the rate, the connection of AT89S52 and nRF2401 will be implemented through the SPI interface. The external system will be set with FLASHRAM, Network Controller, LCD monitor, A/D Converter, single chip and so on. Within our design, as the single chip AT89S52 has not the SPI interface, we have to simulate I/O to SPI. The operation for simulating SPI includes SCLK, data Input and Output. Comparing with the standard SPI, nRF2401 has only one DATA in corresponding to MISO and MOSI in SPI .Therefore, the diagram is as Fig.5.Fig.5 Chip information Transmission of the nRF2401 and AT89S52C. The design of the power supply partAccording to the powers requirements of the wireless transceiver module NFR2401, we decide to choose ASM1117 to supply the power for 3.3V. The power supply of the system is composed of the power supply module, an integrated voltage regulator AMS1117 and a number of external components. AMS1117 is a DC-DC voltage converter; it can convert the 5V voltage to 3.3V voltage.V. THE SOFTWARE PART OF WIRELESS TRANSCEIVERMODULEThe part of the Wireless transceiver module should first initialize the AT89S52 and nRF2 401. The nRF2401s initialization includes the Transceiver Mode of the RF Modules, transceiver channel frequency, the rate of the transfer, address, CRC Checksum, Chip transmission power and oscillators frequency configuration. In this design,channel 1 (Channel 1) mode is mainly used to transport data in the Shock Burst TM, the Data Rate is 240kbps, transceiver channel frequency is 2402 MHz, Crystal Frequency is 16 MHz, chip frequency power is -5d Bm. Now we talk about the nRF2401s configuration and the communication process of AT89S52 and nRF2401.A. AT89S52 configures nRF2401Set CS high, CE low and enter the programming mode of nRF2401, the Data pin of nRF2401 is in the input state, the host writes the data through the MOSI and reads the data from MSIO, configuration data input through the Data pin nRF2401.B. AT89S52 sends data to nRF2401Set CE high and make nRF2401 enter into the TX mode.The Data pin of nRF2401 is in the input state. The host writes data through the MOSI and reads data from the MISO. Input the data through 2401 feet of RnF2401 to the TX FIOF, and set the CE low and start the burst transfer mode.C. AT89S52 reads data from nRF2401When nRF2401 is under the receiving mode and has received the packet, the host writes data through the MOSI and read data from MISO. Because of the two resistors in the figure, the data written in the MOSI will not affect the data outputted from nRF2401.VI. CONTROL ROBOT UNDER THE VIRTUAL SCENEWith the above analysis, we build the remotely control system for robot.In this robot system, we designed a wireless serial communication card to send or receive the information between the robot and the control center. The multiple control information are transferred by the special network. But finally they must be used in the robot control drivers. The next picture is the wireless serial communication card to transfer the data.In the robot body , a wireless serial receive card is used to receive the data from the robot. The next picture is about the card.In the real control work, by a joystick, the desirable direction and angel value are easy to input to the system. In our experiments we input the angle velocity / s in a fixed radius. Then the wheels speed could be calculated by (3). Butin narrow places, the radius should be changed little. At the same time, the wheel speed should be little. We use a joystick, which is easy for human and the mobile robot, based on the man-machine engineering principal and the characteristic of the mobile robot and its manipulation.The operator grids the joystick, moves the joystick and draws the robot moving. The angle data are detected by the sensors equipped on the joystick, and communicated to the teleoperation system by wireless communication card.VII. CONCLUSIONFor the purpose of remotely controlling mobile robot BCAR-01, we designed a teleoperation system with the following characters: a wireless serial communication card is used to transmit the information. Compared with the direct information transmission, the card could be used as atranslucent communication card which could improve the efficiency of the main control computer. A teleoperation experiment using BCAR-01 mobile robot was provided.中文翻译无线串行通信实现的移动机器人网络遥操作系统张磊，IEEE成员，陈子鑫，王嘉和严石天摘要本文提出了一种移动机器人遥操作系统的远程控制. 一个无线串行通信卡被用来传输信息。射频芯片被用来创建串行通信卡。作为一个半透明的通信部分，这张卡片连接控制计算机与执行电机控制下。最后这个teleopera-tion 系统的有效性通过实验来说明。1. 介绍在移动机器人的遥操作系统中，导航总是由远离机器人的操作员执行。在任务中它是一个重要的角色,如救援或侦查等。由远程控制的机器人代替人来控制，因为控制者应该知道机器人的足够信息及它工作的环境来估计状态和得到准确的机器人命令，在导航中态势感知能力被认为是最关键的因素,。1-13许多种类的远程控制机器人系统都是通过提供态势感知能力来完成工作，在大多数这样的系统中视觉信息被广泛采用，14, 实时视频反馈是可信的,但并不足够的，例如，在烟雾缭绕的区域，也只有装备相机的机器人被誉为眼中的机器人，控制者对角落里或者整个工作环境的情况知道的很少。在远程控制一个机器人中，多重的观点对于控制者得到充分的态势感知能力是必须的。态势感知需要从机器人那里得到足够的信息，并且控制机器人，命令必须由远程的方式传输给机器人。许多系统使用计算机卡来做这件工作。在这种系统中，主机在信息传输中必须处理许多信息。本文，我们用一种射频芯片来配置信息传输的任务。本人的写作内容如下：在第2部分我们描述了移动机器人BCAR-01开发。第3部分给出了控制结构和远程驾驶舱. 第4部分提供了制作通信卡硬件的方法，第5部分描述了系统的软件，实验和结论在第6部分和第7部分分别给出。2、移动机器人BCAR-01“BCAR-01”移动机器人(图1)是专为安全探索,楼宇检查等设计的。特别是,在还没被摧毁的危险建筑物里，这个机器人能代替人来完成搜索的工作。通过在机器人上的传感器系统，环境信息比如温度或湿度可以收集起来15-16.对称地装配于底盘的位置两个驱动轮分别由直流电机驱动。另外两个支撑轮安装在垂直于驱动轮轴线的位置来,在水平上保持身体的平衡。加上一个桩的总重量是32kg。最快速度是2m/ s。当电池饱满时，机器人可以不间断地工作大约2小时 。电机功率是180W, 所以这个机器人能负荷40kg。机器人的主要参数如表1所示：表1机器人的类型参数轮廓16表面的缸最高高度410mm底板高度80mm直径485mm驱动轮的距离255mm驱动轮直径318mm 随着研究的不断深入，我们改变了这个移动机器人控制系统。现在，PC104电脑作为控制中心。在系统中的所有的控制命令和传感器信息都放置在这台电脑中。PC104计算机装备的四种硬件模块去执行控制和检测工作。首先，直流电机控制系统是建立在控制中心计算机上的。机器人的两个摆臂轮子由这些直流电机驱动。其次，两个有控制系统的相机配备在这台电脑上。照相机的焦点可以分别调整。每个相机装备在两个自由度的支架上。通过改变支架的方向，视觉角度就改变了。支架控制系统集成在PC104电脑中。第三，多传感器信息通过PC104电脑上的一个附件数据处理卡,来收集。最后，控制中心系统采用通信卡来建立整个通信系统网络。PC104电脑直流电机控制器相机控制器传感器数据处理通信卡直流电机两自由度支架摇 臂 轮相 机多传感器通信枢纽图1 .移动机器人的控制系统通过对不同车轮的速度控制，这个机器人能急转弯在起点或一定半径内，机器人的运动学模型见图2，图2移动机器人”BCAR-01”的运动学模型我们定义S1和S2为两个轮子的速度，在一个单独急转弯状态，这两个轮子速度可以满足如下的方程： （1）这里r是指两个轮子之间的距离，还有R是急转弯半径。在一定时间，机器人用不同的速度在一定的方向转角，这个方程可以改为: （2）在公式（2）中，r是常量，在这个机器人中是255mm，机器人的角速率可以表述为: （3）通过公式（2）和（3），我们可以得出的结论是控制机器人以R为半径转角度可以通过在两个轮子不同速度间适当调节实现，但由于滑动误差和其他原因,，控制的实际数据应给实时调节。3、移动机器人BCAR-01的遥操作系统机器人遥操作控制系统由主机，沟通管道和机器人系统组成。控制者，有力反馈的手柄和便携式计算机组成控制主系统。沟通渠道包括无线网络，AP网络，主机侧网络卡，,副机侧网络卡，嵌入通信服务器网卡和视频服务器。这个机器人是由载体系统，控制器和导航系统、传感器和感知系统组成。图3，移动机器人的遥操作整个系统软结构是客户机/服务器结构。机器人控制计算机是服务器端。它等待控制主机的命令和控制控制直流电机等，来完成遥操作指令。控制主机是客户端。所有客户想要控制机器人可以发送一个请求要求机器人服务器。所以一个机器人能接收多个控制主机的命令，但是服务器时间应该合理分配。同时,多移动机器人能通过相同的控制者控制。主机和机器人之间的通信是基于802.11g协议。多种信息通过通信频道通信，两个通信卡分别装备在机器人和控制主电脑上。在主机方面，有多种接口驾的驶舱是需要的。操作者能使用操纵杆或者键盘输入命令，这些命令信息被编码并且发送给机器人。同时，驾驶舱以不同的格式显示反馈信息，如GPS信息,陀螺信息等。为了再现机器人在工工作地点的情况信息，采用了两种临场感系统，力觉临场感效果是用来反馈在操纵杆上信息的。通过力操纵杆,操作者能感觉到机器人情况。视觉临场感能表现一种预测虚拟场景和在机器人侧的实时视频。承运系统是一个四履带小型移动机器人。在机器人上准备两台摄像机。一个是供传感、具有小的聚焦和广泛的视野，另一个是为了任务,它有一个大的聚焦,并且视野狭隘。这两部摄像机机被作为机器人的传感器。移动机器人已准备距离和力传感器来感知力反馈。4、无线串行通信卡片的硬件如上所述，电机是由PC104卡电脑控制的驱动器驱动的，另一种方法通过无线方式发送命令，而不是直接硬件连接，这种控制方式能够提高PC104电脑的效率。我们用无线收发器系统作为我们的硬件部分，由单片机和射频模块构成，也就是说,AT89S52单片机和nRF2401。它包含四个部分：射频模块，MCU，接口电路和供电部分。A、 射频模块射频电路系统由nRF2401和一个些外部组件组成。如下图，它主要由放大器, 晶体振荡器和调