The Research Of Key Technique Of Service Robot Remote Control

With the coming of aging society, family caring and indoor security monitoring have aroused wide concern. The researches on indoor service robot technology have developed for decades and yielded substantial results. Solving issues of aging society with robot technology is becoming the hot spot of researches, combining with the development of information service and network technology, such as GPRS/GSM, it takes robot technology. It has far-reaching significance for promoting the domestication and industrialization of service robot. Specific to indoor environment, in the light of the remote control of intelligent service robot, this thesis conducts following studies.Firstly, on the basic of traditional robot system, this thesis bring forward with behavior-based web controlling robot system. The improved system divides into three parts: programming layer,behavior layer,coordination layer. And it also combines competitive mode and cooperative mode into a composite behavior selection mechanism. Moreover, the approach, which is based on the network evaluation mechanism, to harmonizing user control and robot local auto-deciding is given.As for terminal, it develops GPRS/GSM network remote control module which based on CAN bus. The module is made up with JEPG micro camera, GPRS/GSM module and C8051F040 microcontroller as its control section. The user can control the robot by SMS or MMS by designed control system. As using CAN bus to communicate with the host system, the module is compact, versatile and stable. Secondly, researching on the internet technology of service robot remote control.First, at robot-side, according to the robot control system which proposed in the thesis, the implementation of control code is given. Second, according to the features of remote control of service robot, based on the combination of B/S and C/S, the framework of network control of service robot is built. In local-side port, both an order transit post and a Live555 video streaming server are constructed. This achieves transmission of robot video, builds a buffering mechanism which is direct against transmission delay, and also alleviates the obstruction of video transmission. In web-side port, a server is constructed based on JSP/Servlet. It achieves the transfer of information between web server and the local server. And it also adopts Ajax technology to achieving the client's page which is transferring information update dynamically without refreshing. Flash is used by designing the client login, registration and the control of page, and ultimately remote control service robot reliably.Through GPRS/GSM network control experiment, Internet network control experiment and control experiment under hybrid network, the system has reliable network operation has been verified. It achieves the control approach of coordinate user control and robot autonomous decision-making under hybrid network. This study has significance meaning in the development of service robot for remote control research.