Development Of Remote Domestic Robot System Based On RT-thread

Domestic robots, which are able to monitor home environment, do housework and provide recreation services, have a promising prospect for the future. At present, domestic robots in market have outdated the development of market for they are expensive, bulky and not smart enough. To adapt to the rapid development of embedded system and internet technologies, it is necessary to developa cost effective, space saving and highly smart domestic robot which not only can be used for education and recreation, but also can monitor and control home environment.In this subject, STM32F4 MCU with ARM Cortex-M4 processorwas loaded to the slave computer, so as to take fully advantage of embedded processor in terms of performance, API and reliability. Besides, RT-thread RTOS was also transplanted into the slave computer to make embodied system more timely and maintainable. The master controller was an Android smart phone, whose hardware and software framework were both quite mature. By communicating with the slave computer through WiFi or Bluetooth, the master controller was able to collect real time videos and sensed information from the slave computer and at the same time remotely control activities of the slave computer.Firstly, the development of embedded system was carried out, containing two parts: hardware design and software design. Hardware design involved the design of schematic diagram and PCB. Constituted by several modules functioned as battery management, motor-driven, Bluetooth remote control, OLED display and other sensors, the domestic robot was able to be controlled in activities and sensing data collection. Programed on the framework of RT-thread RTOS, this system was designed in a multi-threshing method, where function modules in sub thread, such as WiFi/Blutooth communication, motor driven, sensing unit, motion unit and OLED display, were designed and accomplished. So as to make the system architecture of this design more modularized, threaded and timely, which will not only secure the system’s stability but will also favor the expansion and improvement of system’s functions.Secondly, the remote control system was developed, whose hardware included android smart phone and WiFi module. By communicating with slave computers through WiFi, the phone, as a master controller is able to collect real time videos and sensed information from slave computers and remotely control its activities. Programed on the framework of OpenWrt system, this system was designed in a multi-threshing method, where function modules in sub thread, such as network communication, data receive from network, UI design, RTCP processing, decode and display, were designed and accomplished. So as to make the system architecture of this design more modularized, threaded and timely, which will secure the system’s stability.Finally, structure design and commission of this remote control domestic robot was carried out. It was demonstrated by the commission that the remote control domestic robot developed in this subject was able to be controlled by a master phone to collect sensed data, such as temperature, moisture, PM2.5M and smoke alarm, and at the same time it was able to supervise safety by remote video monitor. Witha master phone, it was also able to remotely change the activities of this domestic robot, or control its activities for educational and recreational use.The domestic robot developed in this subject is applicable to practical uses in terms of performance, power consumption and volume, etc. Besides, it is suitable for family use in terms of cost effectiveness, stability and smartness. Therefore, it is necessary to research and develop remote control domestic robot system.