| Wall-climbing robot,as a kind of machine which can automatically apply operation,includes the advanced technology of different areas such as automatic control,mechanical &electrical integration,wireless communication and image processing and is applied in multiple high-risk industries of construction,manufacturing and military.The research on remote control system of wall-climbing robot has already become an important factor for realizing the intelligence and information of robot.Double CPU control plan of S3C2440 A processor from SAMSUNG is used by remote control system inside embedded wall-climbing robot,dual-band wireless communication of433 MHz and 2.4GHz is mainly used by robot and wire communication is the alternative plan.This ensures the control for wall-climbing robot with long distance and high safety.The detailed research is as below:1.Research on wireless communication of industrial wall-climbing robotComparing several wireless communication such as bluetooth,WLAN and Zibee,wireless radio frequency is applied by this system.The research on the difficulty of RF circuit,wireless communication error control theory,CRC coder/decoder method and RS coder/decoder method is done.Mixing code method of CRC validation code and RS error correction code is applied and based on it to make wireless communication agreement and put forward system overall structure design.2.industrial wall-climbing robot remote control system hardware designMaster-slave remote control and monitoring is combined for remote control system of wall-climbing robot.Wireless communication with 433 MHz and 2.4GHz is controlled by dual CPU.Two channel is independent to avoid interference and disturb between each other.S3C2440 A processor of ARM920 T is used for dual CPU,SI4432 wireless transceiver core is used for 433 MHz frequency band and CC2500 is used for 2.4GHz frequency band.Hardware design of wall-climbing remote control system includes: microcontroller module,power module,data collection module,wireless RF module,data communication interface module,data storage module and LCD display module.Meanwhile,PCB design will be applied for hardware circuit.3.industrial wall-climbing robot remote control system software designBased on the hardware design,under the circumstance of Keil ?Vision4 development,using C language to design the software for upper monitorsoftware of wireless remote control system will also be done,including the design of system initialization procedure,main controller driving procedure design,data collection procedure,wireless communication procedure,CAN communication module and serial communication modular.4.The test and analysis includes: wireless communication distance test,radio frequencymodule transmit power test,wireless communication error rate test,CAN wire communication test and joint debugging test.N9030 A frequency spectrograph of AN JIELUN company is used by remote-control system,the test place is in industrial area of Xi Qing Sai Da of Tianjin,the test object is 433 MHz and 2.4GHz radio frequency module and the reliable communication distance is 400 m.Testing result shows that the embedded remote control system can be applied with long-distance.Dual CPU control and dual-frequency band wireless communication plan can largely improve the reliability.Mixed code error control based on CRC code and RS code can ensure the accuracy of wireless communication,stability of system and display of data information.The success of this research has significant meaning for industrial intelligent robot. |
PDF Full Text Request