| In a remote control system for mobile robot, we usually use PC as a control terminal. But the drawback of it is its bad portability, in some special occasions such as in the mine or the building on fire, operators have to control mobile robot in field by controlling the terminal, at this point the terminal needs to be more portable. Besides, the mobile robot may work in the room and cannot be seen by the operators, so the position and the surrounding environment of the robot need to be shown in the control terminal.This paper introduces a remote control system can solve the problems above. The system takes a four-wheel Omni-directional mobile robot car as controlled object, Android handset (tablets or mobile phones) as the control terminal. The controlled object and control terminal communicate with each other through wireless local area network. Through the handheld terminal, operators can control the robot car to move, while the robot’s location information can be showed on the electronic map as well as on-board visual images can be seen. This article main research content is as follows:1. Overall design of robot car remote control inertial positioning system based on Android. At first, this paper made simple introduction to inertial positioning of robot, and then expounds the working principle of remote control system, introducing the function of the remote control system and the performance requirements, as well as the system structure of remote control system.2. Hardware design of inertial positioning robot car remote control system based on Android. This paper also introduces the hardware designed of the remote control system which includes the hardware design of the robot car and the configuration of the terminal. In the robot car, the paper introduces the main device selection and the peripheral interface circuit, including MCU, inertial sensors, image sensors and communication module. It selects STM32F407 as MCU, identified the system of wireless transmission scheme for the wireless local area network, selecting the embedded Wi-Fi module for communication module. Android handset is adopted electric P78S tablets. After the test, the hardware scheme can achieve the desired effect.3. Software design of inertial positioning robot car remote control system based on Android. This part introduces the communication protocol of wireless data transmission and the software realization of the robot car and the control terminal, including the flow chart and realization method. The software of robot car mainly includes the location information transmission module and real-time image transmission module; Android control terminal software includes real-time image receiving and display module, the positioning information display module and control interface module (maps).4. The system test. At first, this part tests the wireless network transmission of real-time, and it turns out the wireless network transmission of real-time is good. After that, we make the robot car to make movements according to the instructions we give through the tablet in the laboratory. At the same time, we can know the position and surrounding environment of the robot car from map and from the real-time video module of the terminal. Experiments show that this remote control system can achieve the expected requirements.This paper basically achieves the robot car inertial positioning and remote control, the user can easily observe the location of the robot car situation and surrounding environment through the interface based on the Android, according to actual circumstances, click on the interface of remote control buttons to control the robot car. |
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