| With the rapid development of Internet, the robot remote control based on Internet has increasingly got more attension than ever. The robot remote control can make the operator keep away from the dangerous scene to avoid life injury, which can be applied in out space explore, underwater operation and nuclear industry and other fields. It can be concluded that the robot remote control technology based on Internet has good development trend and wide application prospect.Embeded Linux, with many advantages such as code-open, being cuttable, multitask and multithreading, is one kind of Operation System that can support all standards of Internet agreement, and be easily port to so many hardware platform, for example X86, ARM, MIPS, PowerPC and so on.Based on the embedded Linux, a mobile robot's remote control system is designed. In this system, a Web server, together with a robot Internet control server, is integrated into an ARM control board, and a wireless linkage to Internet is afforded, which meet the needs of robot for minitype, parallel, moving and group cooperation. Remote operators are able to program themselves by Internet control server to control the robot for a given task, and also look over the state of robot and the image information of environment so as to monitor its moving status. It is testified by experiment that this system has some outstanding capabilities, such as controllability, agility and real time.The main study work and results are just as followed:(1) Construct the system platform based on embedded Linux, which is composed of bootloader, Linux kernel porting, USB WLAN card driver, and USB camera driver.(2) Realize the movement control and sensor information collection of the mobile robot including motor control, inner sensors information collection, image information collection and data acquisition of the wireless sensor network. (3) Design a robot Internet control server based on Socket, such as the server program and control interface realization applying TCP protocol.(4) Confirm a robot remote monitor system based on the Web server, i.e. Boa, so as to realize the webpage-based robot control, image information publishing, robot state query, and data inspection of the wireless sensor network etc.(5) The connection between the robot bottom control and upper computer is actualized by using USB and RS232 interface in order to improve the open and extendable ability of the whole system. |
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