System Design Of EOD Robot Based On ARM And Linux

In recent years, with the increasingly serious situation of global terrorism, terrorist attacks occurred frequently in China, Police Department and Public Sector has a huge demand for EOD robot. The EOD robot products currently on the market, are most using the IPC as the hardware platform and using commercial operating system. This makes the high cost of the product which is not conducive to large-scale promotion of. Based on the EOD robot mission requirements analysis,this paper proposed a low-cost program which based on the ARM9 processor and embedded Linux operating system,from a practical point of view. This program can significantly reduce the development costs of EOD robot. Not only has good economic benefits, but also has important social meaningIn this paper,the design of hardware platform used modular, compact design ideas. Based on the S3C2410 processor core module,we designed and developed the processor switching module, motion control module, data acquisition module and power module. The motion control modules used CPLD as a core, compatible with PC104 bus protocol,and all of the motor control output signal is isolated. The module features simple structure, easy to upgrade and the characteristics of strong anti-interference. The data acquisition module uses low-power AD converter chip with SPI interface.The power consumption is only 2mw,in normal circumstances. In this paper, the open source U-Boot bootloader and Linux kernel version 2.6.22 was transplanted to the hardware platform,and builded the root file system YAFFS using Busbox, builded a complete embedded software development environment. We also writed the driver for the motion control card and data acquisition card,which designded by us.This paper also developed the EOD robot multi-task management program which based on POSIX multi-threading technology,and designed remote monitoring interface based on VB6.0, in the purpose of testing the robot's remote control function.The EOD robot experimental platform was builted in the laboratoryThrough the experimental ,the Robot can complete the upthrow, downthrow ,walking up and down the stairs and other basic functions..The system is stable and real-time with strong anti-jamming capability. The EOD robot achieve the design requirements basically.