A System Of Remote Monitor And Control For Nursing Service Robot Based On ARM

With the development of network and embedded technology, the traditional control technolgies such as centralized control, field bus control, etc. have been changed due to the embedded remote control technology which has been becoming a new research hotspot of many researchers.With the accelerated speed of population aging in China, the problem of old-age population care has become a focus of society. How to take better care of them, and how to reduce the amount of nurses are very important because of less labours in aging society. In this paper, a novel technology based on embedded remote control for wheelchair-bed service robot is proposed to deal with the problem.Firstly, the development of the nursing service robot, and internet-based robot remote monitoring and control technolog are described in the paper. The system structure and function of the remote embedded control sytem are given for the wheelchair-bed service robot, which is designed and developed by our team in lab.Subsequently, according to various function requirements for the nursing service robot, which can be a high intelligent transport tool, as well as to meet the diverse position daily nursing needs and intelligent water closet function at home or in the hospital,we design a DC motor drive circuit. Aiming at the problem of the nursing service robot's collection of body temperatures, in this paper, a non-contact multi-directional infrared body temperature probing method is proposed, and a infrared temperature measurement circuit is designed with thermopile infrared detector TPS334.Next, we build a based software system for embedded remote control terminal. It mainly includes configuring and building an appropriate GNU toolchain, transplant-ing U-boot, customizing and transplanting embedded Linux kernel, developing relevant Linux device drivers such as DC motor driver and infrared temperature measurement driver, and setting up and transplanting root filesystem. The implementation of this system provides the necessary software support environment for the future developmen of the upper layer application software. Finally, using the embedded Web server technology, CGI technology, HTML technology, and Javascript technology, we transplant embedded Web server Boa and test its function successfully, and develop the applications software in server and client. Then, we implement the remote control for the Internet-based nursing service robot, and carry out simulation experiments on the remote collection for the signals of body temperatures and pulses. Adopting a static network delay prediction algorithm based on s-SVR, we also make experiments in time delay compensation control for the problem of network delay in this system, and the results show that the method works well in the prediction of network delay.