Design Of Networked Wheel Robot Remote Control System

With the vigorous development of precision machinery manufacturing, electronics, artificial intelligence, sensors and other disciplines, research on the robot also rose to a new height, the robot plays an important role in the people’s production and living. The management of Robot data, remote control and precision navigation occupied a very important position in the field of robotics research, which directly related to their practicality, stability and accuracy. This paper studied the management and control of the robot and precise navigation based on the Poineer3-DX wheeled mobile robot experimental platform. The work of this thesis is mainly focused on two aspects, the combination of positioning and navigation algorithm research and robot remote control system design.The paper was derived from the entry of China Eighth Graduate Electronic Design Contest whose title was Networked Remote complex Control of Wheeled Mobile Robot. According to the practical application, Poineer3-DX robot’s control system has been analyzed at the beginning of the paper, advanced a two different complementary way by wireless networking and GSM networking to control the robot from the server in the system.Next, the paper pointed out that the original DR position would cause poor positioning accuracy after robot long-running. This paper studied GPS+DR integrated navigation way adding to GPS positioning system with navigation, and put up the use of open-loop control of the selection of Kalman filter for dynamic filtering GPS+DR data and processed data timely feedback to the robot underlying real-time correction of the position and orientation of the robot, the amendments to the path of travel of the robot, give full play to the GPS positioning stable, DR short-term high positioning accuracy of the advantages and achieve precise positioning of the robot, and to improve the reliability of the robot. The accuracy and reliability of GPS+DR integrated navigation algorithm based on Kalman filtering GPS are tested by simulation. At last, the robot remote control system’s function was been analyzed, C#and SQL Server was used to complete the design of the system based B/S structure. When sever received the data from the local system, deal the data with the Integrated navigation algorithm and sent control order,adjust the robot’s posture and path by the data which has been processed. Meanwhile the remote control system mainly included the following four functional modules, electronic map, data management, robot control, abnormal alarm and emergency control.To design the remote control system, the Web server was constructed by the IIS server under Windows. The remote Web server was responsible for processing data returned from the local system, it also embedded the integrated navigation algorithm. The friendly man-machine interface written in ASP.NET made the user or administrator control the robot at anytime and anywhere only if he can access to the Internet through a browser. This method simplified the complexity of the robot manipulator, and robot data cultured.1. Robot control:This function module was divided into two parts, manual control and a combination of mission control. Based on the real-time video surveillance of the environment of the robot, the manual control was realized to control the robot to move. Combination Mission Control is let the robot move according to the advanced designed path during a period of time, and system also realize to make robot autonomous positioning to the target point based on GRP+DR. integrated navigation. This control mode not only can give full play to the robot autonomous operating capability, less manual intervention, but also reduces the network latency affect the direct control of the robot.2. Data Management:SQL server database was used to manage the data of sensors, states and video on the robot, which realize the real-time data significant, storage and echo.3. An electronic map:for use the Google Maps server, system loaded the map and displayed, which made the robot to mark its ’position and draw its paths. 4. Abnormal alarm and emergency control:This feature is implemented based on the GSM network data transmission module, the server determines the case of abnormal state of the robot, the data transmission module will send alarm SMS to the administrator on the phone, requiring timely artificial support. At the same time, in exceptional cases have occurred, but the administrator can not timely connected into the network control robot through the data transmission module to text message to send emergency control commands. To improve the security of the system.The system is the robot functional development to build a base platform, the platform can be used as a variety of robot public infrastructure platform application development and lay a solid foundation for follow-up studies of the robot.