机器人通信系统

200811November2008100ComputerEngineering3421Vol.34No.21··10003428(2008)21010003ATP393Linux11112(1.1000372.100083)Linux2GSM/GPRSQt/EmbeddedGPRSLinuxGSM/GPRSGUIRobotCommunicationsSystemBasedonEmbeddedLinuxWUNan1,GUOPei-yuan1,CHENYan1,YUEMing1,WEIHong-xing2(1.CollegeofInformationEngineering,BeijingTechnologyandBusinessUniversity,Beijing100037;2.RoboticsInstitute,BeijingUniversityofAeronauticsandAstronautics,Beijing100083)AbstractBasedonembeddedLinux,thispaperpresentshowtorealizelong-distanceorshort-distancedoublecontrolmodeofrobotsystem.ThecommunicationssystemismadeofterminalofembeddedLinuxsystemandrobotsystem.ByusingthetechnologyofGSM/GPPSexpanderboardandQt/Embeddedsoftware,throughGPRSnetworkandserialcommunicationseparately,itmakeslong-distanceorshort-distancecontrolrobotgoahead,gobackandmovethefouraxesmachine-arm.KeywordsembeddedLinux;GSM/GPRSexpanderboard;GUIinterface1[1],[2][3]GSM/GPRS2ARM9-S3C2410-sGSM/GPRSGSM/GPRSRS-232GSM/GPRSARMRS-232ARMRS-23212GSMGPRSRS-2321S3C2410-sARM964MBFlashGSM/GPRSRS-2322(1)GSMGSMSIM2SIMG(2)1)S3C2410-sARM9Samsung863(2005AA421022)(1982)[e-mail]9S3C2410-s16KBCACH16KBCACHMMULCD4DMA3IICIIS16/32bitRISCWINCE,EPOC32,LinuxMMU[4]2)GSM/GPRSSIMCOMSIM100-EGSMSIM3.0VSIM1.8VSIMSIM3)2CPUCPU[3](3)AS-RAS-R3(1)LinuxLinux1)Linux2)3)X86,ARM,MIPS,ALPHA,SPARC[5](2)Qt/EmbeddedQt/Embedded[6]QtC++C++GUIC++Qt/Embedded3intmain(intargc,char*argv[]){QApplicationa(argc,argv);MainWindowm;m.setCaption(control);a.setMainWidget(&m);m.show();returna.exec();}Qt/Embedded33sendsendclicksendsendsendclickQt/EmbeddedQlayoutsendclick()sendsendclick4Liunx/dev/ttyS0/dev/ttyS1read,write4sendclick101termioQt/Embeddedtmake.pro.promakefilemakeminicommakeQt/EmbeddedARM2410-s(3)GSM/GPRSS3C2410-sRS-232SIM100EATGSM/GPRSSIMATGSM/GPRS55GSM/GPRS4LinuxGPSRLinuxGSM/GPRSLinux[1],.E-Link[J].:,2007,25(1):52-54.[2],,.Linux[J].,2003,19(3):39-41.[3],.[M].:,2006.[4],.GPRS[J].,2005,24(2):65-67.[5],,.MiniGUILinuxGSM/GPRS[J].,2004,30(21):173-175.[6],.Qt/EmbeddedGUI[J].IC,2005,12(7):98-100.~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~993GPS4GPS512345AGPS1~4445GPS23442344GPS63s146Kb/sGPSGPS4sGPSGPSAGPS[1].GPRS[M].:,2003.[2]MattosPG.AssistedGPSWithoutNetworkCooperationUsingGPRSandtheInternet[C]//Proc.ofthe16thInternationalTechnicalMeetingoftheSatelliteDivision.Portland,OR,USA:[s.n.],2003.[3]KarunanayakeMD,CannonME,LachapelleG.EvaluationofAssistedGPS(AGPS)inWeakSignalEnvironmentsUsingaHardwareSimulator[C]//Proc.ofthe17thInternationalTechnicalMeetingoftheSatelliteDivision.LongBeach,CA,USA:[s.n.],2004.[4]DunkelsA.uIP-AFreeSmallTCP/IPStack[Z].(2005-10-16).[5],,,.OrionA-GPS[J].,2006,14(4):26-29.102