Ground Mobile Robot Teleoperation System Analysis And Related Technical Studies,

As the large improvement of the robotic technology in recent years, the requirement for unmanned intelligent system has become more and more intensive in various industries and fields. This paper is derived from two engineering projects, Nanjing Science & Technical Office "Mobile robot for special tasks" and School's Venture Fund supported "Miniture mobile robot". According to experiment result of the sample robots and the targets of later robots study, the paper mainly focuses on the development of remote console system that belongs to whole system of ground mobile robot. Searching for the reasonable methods to improve the performance of remote control modules depends on comparative experimentations on relative fields.Firstly, the paper mainly describes the function modules of the remote console system. The author analyzed the relative tenchnique that might be applied to the system in detail, such as several kinds of wireless communication and so on. According to the result that is compared with reasonable approaches of each module, the system structure could be established successfully.Secondly, because of the requirement of "dual" wireless communication embedded in remote console system, the author designed two relative experiments to validate feasibility of the method: video transfer based on WLAN and data wireless communication by modularization chip. The experiments prove that it is a good way to transfer wireless image data by Socket programme based on UDP protocol.The wireless chip could be easily intergrated into the communication module via standard I/O port (SPI) and its performance is well.Finally, the paper introduces the application of embedded technology to remote console system based on mobile robot, including establishment of embedded hardware environment for remote console system, transplant experiment on relative system with embedded Linux OS and hardware (SPI) driver programming. At the end of text, The author put forward key problem to resolve in the developing of remote console system based on embedded technology.The paper founds the basis on researching remote console system continuablely.