具有ZigBee通信的群机器人监控系统设计

Design of Monitor System Swarm Robots Having ZigBee-Based Communications

通过需求分析,确定了机器人控制参数设置及下载、运行状态和环境数据采集及显示、历史数据管理及过程回溯分析等功能。在群机器人的通信网络基于ZigBee技术构建的背景下,根据成员机器人绑定终端节点后通过RF信号收发数据的特点,将协调器模块与监控计算机串口连接,完成监控系统的硬件构建。数据采集程序基于Z-Stack协议栈开发,其他部分功能使用Visual Basic编程实现。对群机器人协同搜索实验的监控结果表明,所要求的功能均已满足。

The needed functions,including parameter setting for robots,data collection from running states and environment as well as displaying,and historical data management,process reconstructing and analyzing were decided after demand analysis. Considering ZigBee-based communications among robots and each robot being assigned a binding terminal node,we combined the coordinator module＂ of ZigBee system with monitoring computer through serial port to construct hardware sub-system.As to the software parts,this paper developes data collection program bsed on protocol stack named Z- Stack and another functions with Visual Basic programming language on sides of robot and computer respectively.