云服务器环境下基于Android移动平台的机器人控制系统研究  

Research on Robot Control System Based on Android Mobile Platform in Cloud Server Environment

作　　者：朱昱林 ZHU Yulin(Henan College of Surveying and Mapping,Zhengzhou Henan 450000,China)

机构地区：[1]河南测绘职业学院,河南郑州450000

出　　处：《机床与液压》2021年第15期71-76,共6页Machine Tool & Hydraulics

基　　金：河南省教育厅教育教学项目(ZJC17104)。

摘　　要：在移动互联网进入5G时代的背景下,结合云技术设计一种基于Android移动平台的远程机器人控制系统。设计控制系统的总体通信方案,利用云服务器、TCP/IP协议接收和传递远程通信数据,并融合了Android终端系统的控制功能,以达到远程控制的目的;控制系统硬件部分包括STM32F103T8U6型主控芯片、I2C总线、电源模块、避障模块等,给出系统软件总体架构与主控程序,并重点阐述基于滤波处理的机器人传感数据处理核心算法。测试结果显示:基于Android移动平台的远程机器人控制系统在4个方向的轨迹控制方面表现良好,没有出现过大的偏差,通信网络延迟也低于传统的控制方案。In the background of mobile internet entering 5G era,a remote robot control system based on Android mobile platform was designed combined with cloud technology.The overall communication scheme of the control system was designed.The cloud server and TCP/IP protocol were used to receive and transmit remote communication data,and the control function of Android terminal system was integrated to achieve remote control.The hardware part of the control system included STM32F103T8U6 main control chip,I2C bus,power supply module,obstacle avoidance module,etc.The overall software architecture and main control program of the system were given.The core algorithm of robot sensor data processing based on filter processing was described.The system test results show that the proposed system performs well in robot trajectory control of the four directions,without excessive deviation,and the communi⁃cation network delay is lower than that of traditional control scheme.

关 键 词：远程机器人控制系统 云服务器 ANDROID平台 I2C总线 滤波处理 

分 类 号：TN949[电子电信—信号与信息处理]