Research On Integrated Platform Of The Remote Robot Control System Based On Wireless Network

This dissertation is derived from actual demands that a robot system platform is needed to finish the mobile tasks under adverse conditions and to test and verify the robot wireless network control theory and control optimization study. An integrated Platform of the Robot Remote Control System, based on Wireless Network, is able to achieve the control of robot walking, the adjustment of PTZ’s degree, remote video capture, the display of remote real-time location information and road track in the local network map. This wireless networks remote robot control system integration platform meets the basic needs of the practical applications.The main contents in this dissertation are as follows:(1)The remote robot control subsystem based on the wireless network is designed. The control command transfer protocol on wireless network is analyzed and a set of control command packet formats to realize the basic functions of the remote wireless control of hardware platforms of robot such as robot moving and camera rotation is designed. In addition, the ultrasonic sensors to achieve the function of automatic collision avoidance of the robot are adopted.(2)The robot remote video monitoring subsystem is designed using Microsoft DirectShow technology and a wireless video transmission framework from the remote server to the local client is built. Through the analysis on the video transmission protocol, the Network Sender filter and the Network Receiver filter in this system are worked out. By using the third-party codec filter, LeadTools, the function of video coding on remote server and video decoding on the local client is realized. The video subsystem with functions of video capture, transmission of encoded video, video storage, video decoding and video echo is completed.(3)The robot location information display subsystem based on the network map is designed using Google Maps API. By making use of the real-time location information received from the remote server, the accurate locationing of the remote robot platform and the display of the road track in the local network map are realized.(4)The three subsystems including the remote robot control subsystem, the robot remote video monitoring subsystem and the robot location information display subsystem is integrated to complete the function of overall system. The client and server-side software of the remote robot control system integration platform based on a wireless network is designed and implemented. A robotic integrated platform with the functions of remote control, remote video monitoring and remote map positioning is realized.The results of this study show that:the remote robot control system integration platform based on the wireless network is feasible with good prospects for development. It can be applied to the exploration tasks under harsh environment where is covered by high-speed wireless network, and patrol missions in the factory or community. Besides, this system provides a good platform to verify wireless network control theories and execute other wireless network control tests.