微小地面机器人监控系统设计

Design of Monitoring System for the Small ground Robot

为实现微小地面机器人群体控制、状态监测及显示,设计一种微小地面机器人的监控系统。系统由上位机、Zig Bee通信模块和下位机组成。上位机采用VB开发平台设计监控界面,利用MSComm控件实现串口通信,并通过调用Matlab的COM组件,实现粒子群优化算法预推目标运动轨迹;Zig Bee芯片选用高度集成、低功耗、高灵敏度的784/868/915 MHz的Zig-Bit900,无线网络模块通过串口分别与上位机及下位机连接,实现下位机与上位机组网通信;下位机以DSPIC33F单片机为主处理器,完成主控系统与无线网络模块及其它数据采集模块之间的数据传输控制,实现监控系统对微小地面机器人群的监测和控制。通过实验表明,该监控系统稳定、实时、可靠。

In order to solve the problem of population control and state monitoring and display of the robot,a moni-toring system for micro robot has been designed. The system is made up of the upper computer,the ZigBee commu-nication module and the lower computer. Upper computer designs the monitoring interface using VB developmentplatform,achieves serial communication using of the MSComm control. ZigBee chip selects the Zig Bit900 of 784/868/915 MHz which is high integration,low power consumption,high sensitivity. The wireless network module con-nects to the upper computer and lower computer respectively through the serial port to realize the communication be-tween the lower computer and the upper computer. The lower computer used the DSPIC33 F single chip microcom-puter as the main processor to complete the data transfer between the master control system and wireless networkmodules and other data acquisition module to realize of the monitoring system for monitoring and control the smallground robots group. Experiments showed that the monitoring system is stable,real-time and reliable.