Design And Implementation Of The Control System For Micro Reconnaissance Robot

The reconnaissance robot designed for dangerous environment is one of the research hotspots in robot field, it has extensive application prospects in many fields, such as anti-terrorism and disaster relief, and one important trend in reconnaissance robot development is microminiaturization. In order to complete the reconnaissance mission in a small and closed environment, this paper designs and implements the control system for a dumbbell shaped micro reconnaissance robot.In this paper, the research status of micro and small reconnaissance robot and its key technologies are investigated firstly. Then, according to the application environment of the micro reconnaissance robot, the control system functional requirements is analysed. On this basis, the overall design scheme of the system is proposed, which consists of two parts:the robot body control system and remote control terminal.The robot body control system adopts the master-slave control mode. LMX28 microprocessor is chose as the master controller, and the embedded Linux is used as the operating system to realize the function of information collection and integration, wireless communication and so on. STM32F405RG microcontroller is chose as the slave controller, and the FreeRTOS real-time system is used as the operating system to realize the high real-time requirement of motion control. The master and slave controller communicates through serial port to realize motion control command forwarding and motor state feedback.Remote control terminal uses S5PV210 microprocessor as the main controller, embedded Linux as the operating system, Live555 as streaming media client, QT as the design platform of human-machine interface, and realizes the receiving display of the robot feedback information and the remote control of the robot.This paper introduces the design method of each part of the system hardware and software in detail, realizes the system function and carries on the overall test, the result shows that its function achieves the expected design goal.