Design And Implementation Of Mine Rescue Robot Software System Based On Cortex-A8

With the continuous development of coal mine industry in China,the control of mine accidents is becoming more and more standardized and intelligent.When the coal mine accident occurs,the environment of the mine disaster site still has a huge hidden danger of life safety to the emergency and disaster relief staff.Therefore,it is of great significance to develop an intelligent mine rescue robot which can effectively collect the environmental information of the mine disaster site,which can provide a powerful security guarantee for the search and rescue team in the front line.This thesis relies on the project of ZRK mine rescue robot of Chongqing Research Institute Co.Ltd.of China Coal Science and Technology Group to design and implement the software system.The software system is based on the functional circuit based on Cortex-A8 designed by the research group,and the Android operating system is selected as the software development platform.The modules of video and audio acquisition,serial communication,infrared auxiliary lighting control and operating system are designed and implemented.The functions of mining rescue robot video and audio acquisition and transmission,serial communication,serial port to network port communication,infrared auxiliary lighting control and operating system are realized.By modifying and transplanting the underlying driver,the acquisition module calls the video and audio interface class function based on Android,and uses RTP/UDP as the real-time transmission mode of the network transmission unit to design and realize the functions of video and audio collection,compression and transmission.The communication module invokes the interface provided by the kernel driver laye,the design of JNI serial port interface based on Android is completed,and the Socket communication model based on flow is adopted at the receiving end of serial port,and the functions of serial communication and serial port to network port communication of Android are realized.Through the analysis of the principle of GPIO hardware on the processor,the infrared auxiliary lighting module designs the driver of the Android kernel layer and the Android HAL layer respectively,and completes the JNI interface call of the Android hardware service layer,and finally realizes the infrared auxiliary control function based on Android.The operating system module is optimized and implemented by cutting,transplanting and removing some redundant functions of Android operating system.The test results show that the video and audio acquisition realized by the software system is still clearly visible in the environment of no light and infrared auxiliary lighting,and the compressed video and audio transmission rate is about 2.3Mbit/s,which meets the real-time transmission requirements.Serial communication and serial port to network port communication function is normal.With the optimized system,the boot speed is increased by about 15 s.