| This paper was designed to develop a set of remote control system for agricultural mobile robot. With some changes and improvements, agricultural vehicles, which have some deficiency in protecting drivers, could implement remote control that will reduce both of the physical harm and the number of agricultural forces. The system used an embedded computer as the vehicle control computer. The remote control computer used a PC, the signal sampling and controlling system would capture the vehicle moving information, and the communication would be transmitted through wireless LAN. The conclusion included:(1) According to the features of wireless embedded remote control system of agricultural mobile robot, the system structure and functional modules were discussed and divided.(2) The feasibility of remote controlling the agricultural mobile robot was discussed. It was proved that the WLAN could satisfy the demands of high speed transmission and anti-interference performance.(3) A group of embedded operating systems were analyzed. According to system property, resource usage, popularity, IDE and network supporting, the Windows CE.net operating system was chosen.(4) With multi-threaded programming and the Event mechanism, the resource that threads needed to use could use to synchronize access and the requirement of vehicle carrying system could be achieved.(5) With analyzing the mobile robot, the sensors, which tested certain information, would be equipped and calibrated. The formulation which was used for calculating robot moving information also presented.(6) The mobile robot's steering and controlling system was designed through phase corrected PWM signal. The two-way multistage speed formulation could be used for calculating the DC servo motor's rotating speed.(7) According to the communication requirement, the communicating protocol between vehicle carrying system and remote control system was made. Not only for transmitting safety, it also easier for data processing.(8) The monitoring software, which provided visual control panel on remote control system and embedded computer respectively, was programmed by VC++ 6.0 and EVC.The experimental results indicated that the communication between remote control computer and embedded computer was well while the robot ran at 0.53m/s. The time delay of the data transmission was approximately 55ms while the distance was 200m. The remote control system, which received data with 10Hz frequence, was satisfied the requirement of security and stability. |
PDF Full Text Request