Research On Wireless Remote Control Technology Of Excavator-Robot

Tightly combined with the development of technologies of micro-electronics, computer, auto-control and radio engineering, modern engineering equipment moving in the direction of automation, intelligence and informatization. Recently, the research of remote control for excavating-robot with the semi-autonomous control becomes hot topic. In this thesis, the remote control system of excavation-robot is developed based on the modem design theory for mechano-electronic products. The main contents of this thesis are as follows:In Chapter 1, the status quo and development tendency of remote control excavating-robot technology at home and abroad are analyzed, and the significance of researching this thesis are provided, together with the main research area for this paper.In Chapter 2, the function makeup of the remote control system of excavating-robot is analyzed and the design requirements of wireless communication system are determined. By Comparison and analysis, a new project using wireless data-transmit module is brought forward.In Chapter 3, the hardware structure of the remote control communication system base on DSP is provided, together with the design of peripheral system of DSP, circuits for ADC and DAC and interface with wireless module in detail. In the end of this chapter, a kind of simple but effective hardware safeguard for valve drive is described.In Chapter 4, the software structure of the remote control communication system based on TMS320VC5402 DSP is provided. Set forth the message format used in remote control according to actual requirement in system and realize linearization of control input by analyzing the inner-interface of joystick. Finally, a tidy wireless communication protocol designed for remote control system is introduced as one of main parts.In Chapter 5, Analyze the character of remote control communication system and introduce the Hybrid error-correcting system using FEC mode to improving the anti-jamming of wireless remote control communication channel. Golay(23.12,7) is used and its algorithms of error correction are applied. A method to shortening the spending of error correction is also introduced.