A Method Research And Software Development Of Lake Cleaning Robot Teleopration System Based On Mobile Communication Network

Nowadays, all circles of society have paid great attention on administering the polluted waters already. And research on a sample, efficient, secure, stable, economic and environment-protective water cleaning robot has become a hotspot. Pointed at administration on the lake waters environment of medium and small scale, Changzhou Institute of Supermedia and Sensing Technology undertook the new project"Lake Cleaning Robot". Due to the broad lake operation scope of cleaning robot, it is very difficult to meet the demand adopting ordinary wireless communication. Therefore, a robot teleoperation system based on mobile communication network is designed in this article to meet the needs of distant communication and to make teleoperation system more vivid and convenient adopting vision feedback pattern at the same time.The task and research achievements in this article are mainly the following aspects.(1) Design on robot teleoperation system based on mobile communication network. Firstly, this article testifies the technology feasibility of achieving data transmission and real-time video transmission through mobile communication network. Pointing at the private IP issue of wireless online card, it then puts forward the overall structure of teleoperation system composed of three modules, processor abroad ship, local server and remote manipulation terminal of mobile phone. Diversion of local server makes both receiving the surveillance image information and situation information of lake cleaning robot through remote manipulation terminal of mobile phone and sending command signals to control robot available.(2) Adoption of Socket interface realizing network communication between each subsystem. As for data transmission, such as communication inquiry, situation information, command signals and so on, Socket linkage on the basis of TCP protocol ensures the accuracy and reliab ility of data transmission. As to distant vision information of lake cleaning robot, RTP/RTCP protocol based on UDP encapsulates and packs video data guaranteeing the high-speed and real-time of video signal transmission.(3) Design on short message communication module. Sending and receiving short messages technology based on series port of wireless modem accomplishes short message communication between lake cleaning robot and remote manipulation terminal of mobile phone and resolves the problem that communication with robot is impossible under urgent or network-lacking circumstances.(4) Development remote manipulation terminal procedure of mobile phone based on J2ME. Remote manipulation of mobile phone expands the interaction room between manipulator and robot. Meanwhile, mobile phone procedure based on J2ME has the advantages of having no relationship with platform, strong convertibility and convenient transplantation.(5) Verified experiment on the system under the simulated platform established in the laboratory condition. The results of experiment demonstrate that robot teleoperation system based on mobile communication network has many merits of reasonable design, steady work, general use and strong practicability, supplies real-time robot remote terminal video signal and control signal transmission for remote manipulation terminal, and reaches the request of expectation commendably on robot teleoperation.Currently, research on mobile communication network technology adopted in the robot remote terminal is developing swiftly, and mobile requirement of video collection terminal in the realm of video surveillance is becoming more and more prominent, so robot teleoperation technology based on mobile communication network studied in this article possesses great development scope and will be applied widely in the aspects of dangerous field operation, mobile video surveillance and so on.