Design Of A Remote Control System For Mobile Robot

As the continuously updating of robot control technologies and the development of network communication techniques, a hot research area has been promoted after the third industrial revolution.While combining robot control technology with network communication technique makes robot implement network on the base of original control and forms of the teleoperation robot based on the network communication. This paper reaches the purpose of mobile robot control with the help of network communication mode to accomplish the data transmitting and sending instructions.This paper mainly accomplishes the wireless communication between mobile robot and PC computer transmitting data and control command to terminal robot. The whole system is based on NIOS ? embedded softcore and uC/OS real-time operating system and NicheStack TCP/IP protocol stacks. Using NIOS ?embedded softcore with its collaborative design ability between hardware and software accomplishes teleoperation control of mobile robot; through uC/OS-? real-time operating system to manage network chip DM9000A and the other task scheduling and management in the system; with the help of NicheStack TCP/IP protocol to realize the network communication function of system. Finally, the remote control of mobile robot has come true via wireless network.This paper finishes the general design of teleoperation mobile robot based on embedded system technology SOPC. The hardware circuit of general system includes wireless communication network module, video image acquisition module, motor drive control circuit, photoelectric coder information acquisition module and ultrasonic, geomagnetic sensor, GPS data acquisition module. The development of SOPC is composed of hardware (Quartus ? and SOPC Builder) and software (Nios ? IDE). Hardware development of the system includes generating the whole Nios ? system and PLL module, photoelectric coder, ultrasonic information acquisition module, video acquisition module. While the software design depends on embedded uC/OS realtime operating system to schedule and manage the whole system including data acquire of each hardware module, data sending, receiving and managing. In addition, owing to wireless network PC interface shows data information covering video image of environment around the mobile robot and geography coordinates information of robot. Therefore, mobile robot is in control through human-computer interface.At the end of this paper, the system design is verified by experiments. The teleoperation mobile robot can reach designated place through transmitting information to host computer, and the information is collected by camera shooting image information around the environment of robot.