基于智能手机的家用机器人远程控制系统的设计与实现.doc

摘 要

随着人们生活水平的不断提高以及机器人领域技术的飞速发展,家用机器

人倍受亲睐。交互式控制软件系统是家用智能机器人的灵魂,通过交互式控

制

软件系统对机器人各功能的控制和协调,家用机器人的智能性、实用性和交

互

性得以体现。通过系统的设计及其与下位机的通讯,实现智能手机对机器人

动

作控制以及对家用机器人所在环境进行实时网络监控,因此基于智能手机的

软件系统首先安装实现流媒体服务器 FMS,使家用机器人端与智能手机端建

立

数据通道。通过应用 FMS 提供的多媒体技术,成功地将机器人端捕捉的的实

时

视频以及实时环境温湿度数据通过 3G 网络分别传输到智能手机端的实时视

频

模块和温湿度显示模块等。实现了手机用户对家用机器人的实时监控。

机器人端程序设计主要分为视频编码模块、网络发送模块和运动控制模块。

视频编码模块使用 FMS 实现视频的采集,然后进行基于 Android 智能手机标

准

的 H.263 格式的视频压缩。网络发送模块利用 Winsock 实现编程,最后通过

FMS

将实时视频由机器人端发送到客户端。机器人端上位机通过串口与下位机

(ATmega128 单片机)通信,实现机器人的运动控制,运动控制模块通过在

智能手机客户端程序在 Android 操作系统下完成,主要实现视频重建和运

机器人特定的运动功能。

- I -哈尔滨工业大学工程硕士学位论文

With the rapid development of people's living standards and robotics

technology, the household robots have been given increased attentions.

The

interactive control software system is the soul of household robots.

And the

intelligence, practicality and interactivity can be achieved through

the interactive

control software system for control and coordination of each function

of robotsThe system design together with the next crew communications

could lead to the

environment through smart phones. Therefore, study on the remote

significance. The

the robot server program and the client program. First, the FMS was

installed to

establish the data channel between the robot and smart phone.

Application of

multimedia technology provided by FMS transmitted the real-time video

and

real-time temperature and humidity data, captured successfully by the

robot, to

the real-time video module and the temperature-humidity module on the

smart

phone over 3G networks. Thus, the real-time monitoring of domestic

robots by

mobile phone users has been achievedThe robot-side program is mainly

divided into video encoder module,

encoder

phonesThe network transmission module used the Winsock to implement

programming,

communications between the above crew and the next crew ATmega128 MCU

control of

programming via the MFC MSComm. The smart phone client program was

completed on the android operation system to reconstruction of the

main video

and sent of motion control information. The reconstruction process

is decoding of- II -哈尔滨工业大学工程硕士学位论文

H.263 video, mainly through the inverse quantization and inverse DCT

transformation to achieve the recovery and display of the video

dataThe transmission of the robot motion control information was

completed when

the mobile particular button was triggered to send specific commands

to the robotFinally, a specific motor function of the robot was achieved

Keywords: Android smartphones; household robots; H.263; motion

1.1 课题来源及研究的目的和意义 1?

1.1.1 课题来源. 1?

1.2 国内外研究现状 1?

1.2.2 国内研究现状. 4?

1.3 本文的主要研究内容 6?

1.4 本文的组织结构 7?