摘 要

设计基于wifi信号实现了对移动机器人的控制，通过借助wifi无线传输技术以实现对wifi机器人遥控单元的设计。

设计以wifi作为控制信号载体，实现机器人和PC端的数据通讯，并且根据不同的控制信号，机器人执行不同的动作。在硬件设计中，针对机器人wifi模块和主控芯片的通讯问题，在基于TCP通讯协议的基础上，提出了wifi模块和主控芯片的选型和接口电路的设计方法，实现了wifi模块和主控芯片的数据传输。在软件设计中，针对wifi机器人的控制方式问题,利用wifi模块的server和client工作模式，实现了wifi机器人的多种控制模式，针对数据通讯问题，通过对wifi模块和套接字程序设计，实现了PC和wifi模块的数据通讯。所作的理论分析以及实物测试,验证了基于wifi技术的机器人控制方案的可行性。

关键词：wifi；远程控制；机器人；TCP协议

Abstract

This paper mainly designed the control scheme based on wifi signal for mobile robot and used wifi wireless transmission technology to achieve the design of wifi robot’s remote control unit.

The design achieved two-way data communication between PC and robot by using wifi as a control signal carrier. According to the control signal, robot performs different actions. In the hardware design,the design scheme about selection and interface circuit of the robot’s master chip and wifi module have been proposed based on TCP transport protocol.In the software design,In order to solve the problem of wifi robot’s control mode,multiple control mode of the robot have been achieved by using the server and client working mode of wifi module.In order to solve the problem of data communication,the data communication of the PC and wifi module have been achieved through the wifi module and socket.This design verify the feasibility of robot control scheme based on wifi technology through the theoretical analysis and physical test.

Key Words:wifi;remote control;robot; TCP protocol

目 录

第1章 绪论...................................................................................................................................1

1.1 研究目的和意义.................................................................................................................1

1.2 研究现状.............................................................................................................................1

1.3 研究主要内容和目标.........................................................................................................3

1.4 章节安排.............................................................................................................................3

第2章 方案论证...........................................................................................................................5

2.1整体控制方案和系统结构..................................................................................................5

2.2通讯协议的选择..................................................................................................................5

2.2.1 TCP协议......................................................................................................................6

2.2.2 UDP协议......................................................................................................................7

2.2.3 总结.............................................................................................................................7

第3章 系统模块设计...................................................................................................................8

3.1主控模块电路设计..............................................................................................................8

3.1.1单片机的选型..............................................................................................................8

3.1.2单片机最小系统..........................................................................................................9

3.2 wifi模块设计..................................................................................................................10

3.2.1 wifi模块的选择......................................................................................................10

3.2.2 wifi模块..................................................................................................................11

3.2.3 wifi模块和单片机的串行通信接口设计..............................................................12

3.3 驱动模块设计...................................................................................................................12

3.3.1 驱动模块的选择.......................................................................................................12

• • 1. 驱动模块使用原理说明...........................................................................................13

第4章 系统程序设计.................................................................................................................15

4.1 模块化设计.......................................................................................................................15

4.2 基于无线网络的连接和数据通讯设计...........................................................................16

4.2.1 Socket简介..............................................................................................................16

4.2.2 跨平台无线网络通讯Socket编程.........................................................................17

4.3 系统控制模式设计...........................................................................................................18

4.3.1 局域网控制...............................................................................................................18

4.3.2 广域网控制...............................................................................................................19

4.4 wifi模块软件设计..........................................................................................................20

4.4.1 openwrt固件............................................................................................................20