A Design For The System Of Intelligent Mobile Robot Based On Embedded Platform

Intelligent mobile robot as a multi-disciplinary research, is widely used in military transport supplies, environmental detection, risk of exclusion, rescue the wounded, air detection, target tracking and many other important areas. Due to the use of different background and purpose, the mobile robot has a large difference in the mechanical structure, control method and sensor configuration, which is unable to meet the requirements of multi-tasking machine. Therefore, we need to design an intelligent mobile robot which can meet the requirements of multi-tasking, stability and easy operation.Combining the research results of intelligent mobile robot in foreign and domestic and the current status of the development of technology, this article designs an intelligent mobile robot which has a multi-gesture walking mode. The overall mechanical structure of this robot system consists of two wheeled balancing walking institutions, double arm mechanism, the clamping robot body, cover rotating mechanism, cover lifting mechanism, frame and other components. The hard drive system using AVR microcontroller as the main control chip is used to control the whole movement and action of this robot. The embedded operating platform using the Linux operating system based on ARM realizes the master-slave control of the hard drive system and the data collection of image sensor through the PC hardware. This article describes the structural design and working principle of this mobile robot's each actuator. A variety of the walking patterns could be realized by the hardware and the software control, which including the two-wheel balancing model, the four wheel drive model by big wheel control, the four wheel drive model by small wheel and the obstacle model. The champing and handing function could be realized for the target by operation the manipulator, with the carrying camera to get the accurate positioning for the target object. Through the operation to rotating and lifting device, the function of image information comprehensive acquisition and path navigation could be achieved. In this paper, there are drive circuit and working principle of each mobile robot action working principle and this robot equipped with a distance sensor and attitude sensor can achieve a range of automatic and autonomous obstacle avoidance navigation. The PC control software can achieve real-time remote control of mobile robots and this article presents the control method and the hardware and software configurations of this robot's remote control, also introduces the camera simple and self-calibration method based on Open CV and the depth image information acquisition and analysis based on Open NI.