The Design Of Ship-shore-based Remote Data Transmission System Based On Spread-spectrum Communication

The robot is divided into flight, land and underwater robot. Among them, the most widely used is the land robot. And land mobile robot is divided into several categories of wheeled and legged, crawler robot. With the development of science and technology change with each passing day, the people in desperate need of a can work in a variety of environmental robots, with respect to the wheeled and tracked robot,multi legged walking robot especially hexapod robot has a strong ability to adapt to the environment, and on the ground damage small, high flexibility, so the object of this research for hexapod robot.In this paper, we use the Samsung S5PC100 development board as the hardware development platform based on the transplant Linux system as its chip operating system, the traditional servo control technology and obstacle detection technology,path planning algorithm and the upper computer interface, design a ARM based robot control system of six feet. The main research contents of this paper are: according to the characteristics of the whole embedded control system, the Bootloader, Linux kernel, related device drivers and the root file system are cut and ported to the hardware development platform. The design and implementation of the various functional modules of the control system based on the software and hardware platform is built. Including: gait control module, obstacle detection module, path planning module and upper computer interaction module.In this system, the data is transmitted to the obstacle detection module, which is transmitted through the sensor. The obstacle detection module carries on the information processing to judge the position relationship between the obstacle and its own. After analyzing the path planning module, the path of the robot is sent to the gait control module. The gait control module decomposes the running path into a single step operation, and starts the motion control of the robot. In addition, the upper computer interaction module plays a part in the instruction and the function of the robot's state information.This system uses the modular design method, which makes the design of the system is simple and efficient, and has good expansibility and easy to use. The experimental results show that the control system can accurately control the robot,and it can meet the expected design target.