Design And Implement Of Mobile Monitoring Robot Based On Embedded Linux

Along with the rapid development of embedded technology, internet of things and mobile internet, science and technology blows a new wave of development. It has become a new trend and a hot topic of the development of robotics to use these new technologies. This thesis makes the most of these new technologies to design and implement a mobile monitoring robot based on embedded linux and provides a solution, which is modular universal and easy to extend. This robot has the function of video surveillance and collecting environment parameter. The PC or Android device can act as the controller. The main contents of this thesis includes as follows:Firstly, we build the hardware platform, which is made up of ARM Cortex A8 processor S5PV210 and STC12C5A60S2 microcontroller. This system capture video data by USB camera, pan-tilt-zoom constituted by steering gear can adjust and change the view of the camera; the data are transmitted wirelessly to the receiver through USB wireless card; the DC motor is drived by the L298 N circuit, and its speed is controlled by the PWM signal; the GPS module is used to locate the positions; 1W LED constitutes the lighting system and the buzzer acts as alarm system. Moreover, digital humidity & temperature sensor, accelerometer and ultrasonic sensors are onboard, used to collecte environment parameter. Next, we establish embedded cross-compile system develop environment, transplant embedded linux operating system to the target robot hardware platform, cut and optimize this linux system. Including modify and construct uboot, linux kernel, root file system and other hardware device driver. On the base of above, we transplant and analyze the open source video server software mjpg-streamer, including video capture process based on V4L2 interface, video encoding and JPEG compression process, wireless transfer process based on socket. According to the characteristics of the processor S5PV210, we replace with hardware compression data instead of software in the source code. It effectively improves the system’s compression performance. And finally, we develop robot control software running on PC by using Qt, embedded server software by using Qt/Embedded, conrol software running on Android and lower computer microcontroller program, adapting to the system architecture, we designe custom communications protocol based on Modbus protocol at the user level. It has reached the anticipated design object through the test and analysis of the system.