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计算机系统应用:2019,28(2):75-80
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基于ROS与Contiki的物联网环境下数据采集机器人设计
张美平1,2, 张毅韬1, 郭旭城1, 王志宇1
(1.福建师范大学 数学与信息学院, 福州 350007;2.福建师范大学 福建省网络安全与密码技术重点实验室, 福州 350007)
Design of Internet of Things Data Acquisition Robot Based on ROS and Contiki
ZHANG Mei-Ping1,2, ZHANG Yi-Tao1, GUO Xu-Cheng1, WANG Zhi-Yu1
(1.College of Mathematics and Informatics, Fujian Normal University, Fuzhou 350007, China;2.Fujian Provincial Key Lab of Network Security & Cryptology, Fujian Normal University, Fuzhou 350007, China)
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投稿时间:2018-07-11    修订日期:2018-08-09
中文摘要: 提出了一种基于ROS与OpenWrt、Contiki的新型物联网系统方案ROS-IOT.分为两个部分:物联网系统的搭建与此系统下数据采集机器人的设计.感知层传感节点采用Contiki协议栈实现传感节点的组网与数据传递;接入网关采用运行Openwrt操作系统的线路由器,网关接入模块实现协议动态转换,设置转换地址池、数据汇聚、处理,并基于rosserial_embeddedLinux上递至ROS网络等功能,实现各层数据流通;应用层基于websocket技术设计了与ROS网络数据交互的web服务,可实现与感知层、机器人的双向交互.机器人采用运行ROS环境的树莓派作为主控设备,电机驱动板采用stm32单片机.机器人的软件设计采用基于ROS Topic与ROS_bridge的通讯机制,使得机器人更加容易地融入物联网系统,并且在此基础上拓展更多服务.
中文关键词: ROS  Contiki  物联网  机器人
Abstract:ROS-IOT, as a new scheme of the Internet of Things system based on ROS and OpenWrt and Contiki, is put forward. It is divided into two parts:the construction of the system of the Internet of Things and the design of data acquisition robot under this system. In the perceptive layer, the sensor node uses Contiki protocol stack to realize the networking and data transmission of sensor nodes. In the access layer, access gateway adopts wireless routers running OpenWrt operating system, connection module of gateway realizes the dynamic transformation of the protocol, and it sets the functions of conversion address pool, data aggregation, and processing and forwarding to ROS network based on rosserial_embeddedLinux, which realizes the data circulation of each layer. In the application layer, a web service that interacts with ROS network data based on websocket technology is designed to achieve two-way interaction with the perception layer and the robot. The motor-driver board of the robot adopts STM32 singlechip, and the robot uses raspberry pi that running ROS environment as main control device. The software design of the robot adopts the communication mechanism based on ROS Topic and ROS_bridge to achieve the purpose of the robot are more easily integrated into the system of the Internet of Things,which is the base of expanding more services.
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基金项目:国家自然科学基金面上项目(61771140);福建省科技厅高校产学合作项目(2017H6005);福建省2018年省级大学生创新训练项目(201810394053)
引用文本:
张美平,张毅韬,郭旭城,王志宇.基于ROS与Contiki的物联网环境下数据采集机器人设计.计算机系统应用,2019,28(2):75-80
ZHANG Mei-Ping,ZHANG Yi-Tao,GUO Xu-Cheng,WANG Zhi-Yu.Design of Internet of Things Data Acquisition Robot Based on ROS and Contiki.COMPUTER SYSTEMS APPLICATIONS,2019,28(2):75-80

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