Study On The Wireless Communication And Monitor Platform Of The Explosive Ordnance Disposal Robot

Explosive ordnance disposal robot(EOD) system be used to replace manual work to scout,remove dispose exploder and other dangers in scene directly.At the same time, EOD also can attack terrorist and criminal who hold a gun.It is the important furnishment of anti-terrorism field, It also be used in succor and fight platform field widely.This thesis aim at the key project of Shanghai science and technology committee named"Explosive ordnance disposal robot", adopt upper computer and lower computer relize the disposal of massive exploder, and emphasize research the wireless communication and monitor platform of upper computer that used in flexible mobile carrier and massive anti-explosive manipulator. the wireless communication and monitor platform not only make the operator can send relevant motion commands to control the EOD to perform corresponding action, but also feedback the real-time state parameters,video and audio information of the EOD and its surrounding to the operator. Thereby, the mutual between operator and remote robot become reality.The main contents of this thesis are as follow:Firstly, this thesis designed the platform control system in general that base on the analysis and discussion of actuality and development tendency of EOD at home and abroad. At the same time, we divided the system platform into skit modules in the light of functional requirement, making modularization design thinking of open system penetrate whole process of design.Secondly, the hardware of upper computer wireless communication system are designed, relized the hardware modules of the manipulation keystroke,analog joy stick data measurement,EOD data display and alarm information process ect, then detailed hardware circuit of every module are designed. At the same time, The hardware of wireless video and audio monitor system is constructed. Lastly, the software of wireless communication and monitor platform are designed, at the part of bottom software, this thesis constructedμC/OS-II operating system that base on LPC2131 ARM micro controller, the transplant ofμC/OS-II operating system in LPC2131 ARM become reality. At the part of application software, the application programs of every functional module are constructed according to hardware of platform, the functional requirements of platform system are realized. Beside above, this thesis introduced an algorithm of communication error correction that base on Golay code, ensuring the reliability and real-time of communication system.