【作者】 姚飚；

【导师】 邱白晶；

【作者基本信息】 江苏大学 ， 农业机械化工程， 2007， 硕士

【摘要】 喷雾机器人代替人工实现田间喷雾作业具有改善劳动者工作环境，避免操作者中毒、提高工作效率等优点，然而由于喷雾机器人田间作业环境的复杂性，在现有技术条件下，喷雾机器人还不能自主完成所有任务，因此需要与人类智能相结合。本文结合喷雾机器人作业环境的特点，建立了喷雾机器人无线远程监控的实验系统。该系统采用监督控制方式，选用UDP协议作为远程控制系统的数据传输协议，采用基于客户端／服务器构架的软件设计方法，开发出喷雾机器人的远程监控的软件平台。该软件平台通过状态反馈和视觉反馈来帮助客户端的操作者了解机器人的工作情况。为了实现状态反馈，文中研究了传感器信息采集的方法，完成各传感器精度标定，分析了影响传感器测量精度的因素，并实现了数据的无线传输；为了实现视觉反馈，文中研究了视频的“采集-压缩-发送-接收-解码-播放”等过程的关键技术，用实验对比了当前较流行的两种压缩编码技术，选择适合本系统的MJPEG压缩编码方式。另外以方便操作者使用为原则设计了远程控制的命令。软件平台最终实现了通过无线网络实时传输各类数据和控制命令，客户端再现了机器人的工作环境和状态。文章最后对喷雾机器人远程监控系统中存在的主要问题进行了探讨，用实验测出无线远程控制系统中网络利用率、数据包的准确分布以及延迟的长短等主要指标，分析了数据包分布及延迟的影响因素。在此基础上进行了喷雾机器人运动轨迹测试，实验结果表明：整个远程控制系统在满负荷工作时，网络工作状态正常，为了保证系统良好的操控性，机器人所处区域信号强度必须大于30％，操作者根据反馈信息判断机器人是否偏离预定路径，并在偏离时给予有效的纠正，为解决喷雾机器人重喷、漏喷的问题提供了一种方法。更多还原

【Abstract】 Instead of human implement spray in the field, spraying robot has several benefits, such as improving the worker’s operational environment, avoiding the risk of poisoning and elevating the work efficiency. The task environment of spraying robot is so complex that spraying robot can’t finish all its work by itself in existence technical condition. So we should integrate it with human aptitude.This paper combined the specialty of spraying robot’s task environment, built the spraying robot’s wireless remote monitoring and control experimental system. This system adopted supervisory control mode, selected the UDP protocol for data transmission, designed the software platform of spraying robot’s remote monitoring and control system based on Customer/Server’s truss. This platform can help the manipulator to see the robot’s working condition at the remote area by the technology of state feedback and visual feedback. For accomplishing the state feedback, this paper studied the method of sensors’ information collection, completed sensor’s precision demarcate, analyzed the influencing factors of measure precision, achieved the data’s transmission wirelessly. For accomplishing the visual feedback, this paper studied the key technology of video’s "collect-compress-send-receive-decompress-show", The author compared of the popular compressed encoding technology at present by experiment, selected the MJPEG compressed encoding mode to fit this remote control system. In addition the author designed the remote control command base on the principle of easy operation. Finally, this platform implements how real-time transmitted all kinds of data and control commands via Wireless LAN, The working circumstance and state of robot were recurred by the Client.This paper discussed the main questions about the spraying robot’s remote monitoring and control system, we measured the main parameters by experiments, such as network availability, the accuracy distributing of data package and delay. Analyzed the influencing factor of distributing of data package and delay, then the robot’s trail performance were tested. The results showed that the networks operate well at full capacity; the signal strength must beyond 30% to maintain good control effects. The manipulator can judge whether the robot deviated destined line by back feed information, and then offered effective rectifications. The article provided a method of reducing overlap or skips of spraying robot.更多还原