Design And Implementation Of Monitoring And Control System Of Multiple Biped Robots Based On Internet

As the development of network communication technology,remote control of robots via the Internet is becoming a tendency. People can control the robots which are located in different places by a computer on the internet, instead of going to the work sites by themselves. Through the collaborative control of mutiple biped robots in combination with network communication technology, this thesis developped a monitoring and control system of multiple biped robots based on internet technology, which consists of network control subsystem and video monitoring subsystem.By the network control subsystem, users on the internet not only can do a motion control on any robot in the system, but also can conduct a consistency control on multiple robots located in different places. By the video monitoring subsystem, people can do a real-time monitoring on the work environment of robots, and make a real-time adjustment according to the change of work environment. The main contributions and research production of this paper are as follows:1. Present researches on network control of muti-robot at home and aboard are introduced, and research significance of this thesis is clarified.2. The working mode and architecture of monitoring and control system of multiple biped robots are established by dividing system modules and combining control system of biped robot.3. Base on UDP network protocol and Socket network programming technology, network control subsystem of multiple biped robots is developped, the concrete work of which includes designing the format of all kinds of news in the system communication network, using C language to program server software of network control in Linux enviroment, and developping the client software with C++ language in Windows enviroment.4. Base on TCP network protocol and Socket network programming technology, video monitoring subsystem of multiple biped robots is developped, whose specific work is made up of determining the conclution of video playing,using C language to program server software of video capture and transmission in Linux environment, and developping video player software with Direct Show technology and MFC programming framework in Windows environment.5. Experiments on the monitoring and control system of multiple biped robots designed in this paper are conducted. First, fuction test experiment of network control subsystem is done, then the video monitoring subsystem is testd, finally consistency control experiment of biped muti-robot is conducted. The results of these experiment show that people can do a individual control on a single robot in the system, and can also make a consistency control on server robots via the Internet. At the same time, users can monitor the working condition of every robot in the system by the real-time monitoring system.