Embedded Remote Control Mobile Robot System Design

Telerobotics based on network is being a member of network which integrated the network technology and robot technology, through the development of computer networks to expand the diversity of robot control system so that the robot's control system can be connected with other smart devices for interactive, collaborative, and information, data access will be more and more come from the network resources. As a result, Telerobotics control breakthrough from the restrictions, real inter-regional and inter-space remote control, and the network can also use robot technology to expand its external scalability.Nowadays, Telerobotics based on network be in research stage at the most. The research mainly focused on network control but less in the method of system design. To overcome the disadvantages observed in the prevalent Telerobotics systems, such as bulky, high power consumption and closed architectures, it is meaningful that introduces a novel design of embedded Telerobotics system using the technique integrating embedded Linux and computer network technology, which make the system be more compact and lower power consumption.The whole architecture and function is firstly introduced, through analyzing the driver devices of mobile robot, a difference wheel driver model is established. As an open architecture, the hardware consists of microcontroller, vision, wireless communication, motion control and power, for this hardware model, a narrative started form circuit perspective. Meanwhile the software is developed as a hierarchical structure, including four layers of data acquisition, operating system, device driver and application, for the parts of software, a meathod of design is supplied which mainly described in application software. Based on this embedded telerobotics system, the path planning research on muti-sensor information fusion is demonstrated, for the path planning, through designing the fuzzy decision-making model based on ultrasonic obstacle aviodence and adopting the meathod of interger HSV color spcace conversion and a fast scan row labeling clustering algorithm based on single vision, a valid method of object organization applying in path planning is designed. As the result, the whole system has many advantages, such as compact hardware, low power consumption, customization and open architecture. Finally, some specific experiments such as system power,the feasibility of image process and path planning have worked and the result of experiment demonstrates the feasibility and stability of the Telerobotics system in the end.