Application Research On Communication And Audio & Video System Of The Mobile Robot

The probing mobile robot for coal mine is a mobile robot used for disaster rescuing, it is developed for the mine disaster which occurred frequently in china this years. The system of the robot use the C/S structure, the operators can use the flat of control to monitor and control the robot, the flat of control communicate with the robot through the WLAN. This thesis researched the robot's communication and audio & video system. Firstly the thesis introduced the basic information like configuration, function and control mode of the robot, then developed the communication system, the audio-video system and the control system, lastly analyzed the practical problems in the control of the robot and researched the arithmetic of gesture detecting based on the picture which photographed under lamplight in the dark environment.The WLAN which was based on the stand of IEEE802.11 was used for the system of the wireless communication. The IEEE802.11 stand was introduced selectively, then the thesis analyzed the networking mode WDS and AD-Hoc and provided the best networking mode. Lastly, the TCP and UDP were analyzed based on WLAN.The design of audio-video system in the robot and the control flat were expatiated on the chapter audio-video system. The system of the robot took charge of the collecting, compressing and sending of the video. The control flat took charge of the receiving, decompressing and playing of the video. DirectShow was used for the video collecting and playing, MPEG-4 was used for the video compressing. DirectShow and the arithmetic of video compress were introduced in the thesis. The video transporting was designed by the characteristic of UDP and wireless LAN and the flow of program was introduced particularly.The arithmetic of the gesture detecting based on vision was used in the control of the robot. The arithmetic of image pre-processing, line detecting and fitting was introduced in this part.