基于网络的焊接机器人信息传输方法研究
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摘要
本文主要搭建了焊接机器人网络通信硬件平台,设计了焊接机器人网络通信模型拓扑结构、网络通信协议、视频传输模型,构建了通信系统,并对通信系统做了测试,最后对焊接机器人广域网通信做了初步研究。
首先,搭建了焊接机器人网络通信平台。基于网络通信方式设计了焊接机器人通信系统网络拓扑结构,搭建了焊接机器人网络通信平台。
其次,基于UDP协议设计了焊接机器人局域网通信协议WRNCP和局域网视频实时传输模型BPM。介绍了C/S通信模型、套接字通信技术、多通道传输思想和多线程编程技术；设计了视频传输方法和视频传输控制策略；在VC++6.0开发平台下综合应用相关技术实现了焊接机器人局域网络通信平台软件界面。
再次,对焊接机器人局域网通信系统进行了测试。重点对通信系统的延时、视频传输速度、协议的可靠性等做了测试。对TCP协议、UDP协议和WRNCP协议延时情况做了统计分析,得出TCP协议、UDP协议和WRNCP协议在零负载局域网中和有负载校园网中传输延时均不符合正态分布规律；对整个通信系统的视频处理速度和传输速度做了测试分析,提出实时性是所设计的焊接机器人网络通信系统中最重要的指标参数；对WRNCP协议的可靠性做了测试,对TCP协议的粘包现象做了分析。
最后,对焊接机器人广域网通信方法做了初步研究与探讨。介绍了网络地址转换(NAT)技术、网络最大传输单元(MTU)限制等,分析了广域网络引起丢帧的影响因素；设计了焊接机器人广域网通信协议,视频实时传输方法、视频传输控制策略；论文基于VC++6.0开发平台实现了焊接机器人广域网通信系统,对其在校园网络中的视频传输进行了测试。
In this paper, the hardware platform of welding robot network communication were built, welding robot network communication model topology, network communication protocol and video transmission model were designed. The whole communication system was realized at VC++ 6.0 platform. What's more, some tests to the system were done. In the end, wielding robot wide-area network communication preliminary study was done.
First of all, welding robot network communication platform was built. Network conception was introduced to the traditional welding robot system in this paper. First, welding robot network communication model topology was designed, the hardware platform was realized. Then, the platform designed was access to the campus network.
In the second place, welding robot communication protocol WRNCP in LAN and video real-time transmission model BPM in LAN based on UDP protocol was designed. In chapter three of this paper, firstly, C/S communication model, socket communication technology, multi-channel idea and multithreaded programming technology were introduced. Next, vide transmission method and video transmission control strategies were designed. Finally, the welding robot communication platform software interface was realized at VC++6.0 development platform with related technologies.
In the third place, some tests to the welding robot communication system are done. The tests focus on the communication system delay, video transmission speed and protocol reliability. First, statistical analysis to the delay of TCP protocol, UDP protocol and WRNCP protocol is done. It can be found that data transmission delay of TCP protocol, UDP protocol and WRNCP protocol in LAN with zero load and in campus network, all hardly consistent with the normal law. Secondly, test and analysis to video process speed and transmission spend of the hole system were done, and propose that real-time is the most important indicator parameters in welding robot network communication system. In the end, the reliability tests of system have been done, and have given the analysis explanation to packet splicing of TCP protocol.
Eventually, preliminary study and discuss on welding robot communication method in WAN were done. First, network address translation (NAT) technology, network maximum transmission unit (MTU) and so on is introduced, and the factors causing frame lost in WAN were analyzed. Next, the welding robot WAN communication protocol, video real time transmission method and video transmission control strategy are designed. Lastly, the welding robot WAN communication system software platform was realized at VC++6.0 development platform, and some tests to video transmission spend of the system in campus have been done.
首先,搭建了焊接机器人网络通信平台。基于网络通信方式设计了焊接机器人通信系统网络拓扑结构,搭建了焊接机器人网络通信平台。
其次,基于UDP协议设计了焊接机器人局域网通信协议WRNCP和局域网视频实时传输模型BPM。介绍了C/S通信模型、套接字通信技术、多通道传输思想和多线程编程技术；设计了视频传输方法和视频传输控制策略；在VC++6.0开发平台下综合应用相关技术实现了焊接机器人局域网络通信平台软件界面。
再次,对焊接机器人局域网通信系统进行了测试。重点对通信系统的延时、视频传输速度、协议的可靠性等做了测试。对TCP协议、UDP协议和WRNCP协议延时情况做了统计分析,得出TCP协议、UDP协议和WRNCP协议在零负载局域网中和有负载校园网中传输延时均不符合正态分布规律；对整个通信系统的视频处理速度和传输速度做了测试分析,提出实时性是所设计的焊接机器人网络通信系统中最重要的指标参数；对WRNCP协议的可靠性做了测试,对TCP协议的粘包现象做了分析。
最后,对焊接机器人广域网通信方法做了初步研究与探讨。介绍了网络地址转换(NAT)技术、网络最大传输单元(MTU)限制等,分析了广域网络引起丢帧的影响因素；设计了焊接机器人广域网通信协议,视频实时传输方法、视频传输控制策略；论文基于VC++6.0开发平台实现了焊接机器人广域网通信系统,对其在校园网络中的视频传输进行了测试。
In this paper, the hardware platform of welding robot network communication were built, welding robot network communication model topology, network communication protocol and video transmission model were designed. The whole communication system was realized at VC++ 6.0 platform. What's more, some tests to the system were done. In the end, wielding robot wide-area network communication preliminary study was done.
First of all, welding robot network communication platform was built. Network conception was introduced to the traditional welding robot system in this paper. First, welding robot network communication model topology was designed, the hardware platform was realized. Then, the platform designed was access to the campus network.
In the second place, welding robot communication protocol WRNCP in LAN and video real-time transmission model BPM in LAN based on UDP protocol was designed. In chapter three of this paper, firstly, C/S communication model, socket communication technology, multi-channel idea and multithreaded programming technology were introduced. Next, vide transmission method and video transmission control strategies were designed. Finally, the welding robot communication platform software interface was realized at VC++6.0 development platform with related technologies.
In the third place, some tests to the welding robot communication system are done. The tests focus on the communication system delay, video transmission speed and protocol reliability. First, statistical analysis to the delay of TCP protocol, UDP protocol and WRNCP protocol is done. It can be found that data transmission delay of TCP protocol, UDP protocol and WRNCP protocol in LAN with zero load and in campus network, all hardly consistent with the normal law. Secondly, test and analysis to video process speed and transmission spend of the hole system were done, and propose that real-time is the most important indicator parameters in welding robot network communication system. In the end, the reliability tests of system have been done, and have given the analysis explanation to packet splicing of TCP protocol.
Eventually, preliminary study and discuss on welding robot communication method in WAN were done. First, network address translation (NAT) technology, network maximum transmission unit (MTU) and so on is introduced, and the factors causing frame lost in WAN were analyzed. Next, the welding robot WAN communication protocol, video real time transmission method and video transmission control strategy are designed. Lastly, the welding robot WAN communication system software platform was realized at VC++6.0 development platform, and some tests to video transmission spend of the system in campus have been done.
引文
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[2]赵猛,张珩,陈靖波.灵境遥操作技术及其发展[J].系统仿真学报,2007.19(14)：3248-3252
[3]史英海,王越超.基于IP QoS技术的网络机器人遥操作研究[J].机器人,2003.25(4)：363-366
[4]王世华,胥布工,刘云辉,贾允毅.多信息感知辅助的网络遥操作机器人系统[J].机器人,2008.30(1)：47-55
[5]王世华,胥布工,刘云辉.基于Internet的实时遥操作移动机器人系统[J].华南理工大学学报(自然科学版),2008.36(1)：81-88
[6]李海超,吴林,高洪明,张广军.基于机器人遥操作的遥控焊接最新研究进展[J].焊接学报,2006.27(6)：108-112
[7]孙富春,吴凤鸽,刘华平.面向在轨服务遥操作技术的研究与展望[J].空间控制技术与应用,2008.34(1)：33-37
[8]庄严,王伟,恽为民.基于网络的机器人控制技术研究现状与发展[J].机器人,2002.24(3)：276-282
[9]王理燕,贺利军,陈建华.基于VC的UDP的实现[J].信息通信,2008.(1)：20-23
[10]吴秋峰.网络控制的机遇与挑战[J].工业控制计算机,2004.17(9)：1-2
[11]马国红,陈善本,黎文航.网络机器人的发展及其在焊接中的应用现状[J].焊接,2004.(4)：5-8
[12]蔡皖东编著.计算机网络(第3版)[M].西安：西安电子科技大学出版社.2007.
[13]白成杰,白成林,韩纪广编著.计算机通信网络技术及应用[M].北京：人们邮电出版社.2002.
[14]陈明编著.网络协议教程[M].北京：清华大学出版社.2004.
[15]兰少华,杨余旺,吕建勇编著.TCP/IP网络与协议[M].北京：清华大学出版社.2006.
[16]谭玉波.基于Internet的端到端视频传输控制研究[D].国防科学技术大学,2005.
[17]顾洪军,张佐,吴秋峰.控制系统的网络化发展[J].工业仪表与自动化装置,2000.(1)：62-65
[18]张阳,王宣银,刘松国.焊接机器人嵌入式示教系统设计与实现[J].设计与研究,2007.(3)：1-3
[19]李志坤,段培永,宋波.网络化控制系统研究现状与展望[J].山东建筑工程学院学报,2005.20(4)：69-73
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