Research On Tele-Operation System Of Polar Robot

Antarctic is one of the key aspects which are widely concerned in scientificresearch, environmental monitoring, energy and military field. Due to the specialAntarctic environment, studing on the key robotic echnologies adapting to theAntarctic environment will enhance our technological advantages in the polar regions,protect the global environment and maintain the world peace, which is of importantscientific value and strategic significance.Supported by the National Natural ScienceFoundation of China--Antarctic expedition equipment development, the research onthe visualization of the remote environment and the design, implementation of remotecontrol software system of a robot moving on snow surface is carried out in this paper.First of all,the commonly used3D lidar scanning system is introduced.Withregard to a3D lidar scanning system composed of pan-tilt and2D lidar,the design andimplementation of its hardware and software as well as its fundamental principle areintroduced. Two kinds of moving pattern (continuous and stepping mode)to scan thesurrounding environment for data collection are designed. Experiments with respect totwo scenes are conducted and the results show the feasibility of the3D Lidar scanningsystem.Secondly,a distributed system according to the demand of remote control softwaresystem is designed.The system consists of five sub-modules, namely, communicationmodule, mission module, control module, surveillance module, display module of3Dremote environment. They communicate with each other via Ethernet TCP/IPprotocol. Each module is implemented base on Qt and the experiments proves that thesystem can meet the demand of the Antarctic expedition.