Research And Implementation Of Robot Remote Control Subsystem In The Robot Command And Control System For Public Safety

With the development of robot technology,research and development of various intelligent robots for specific purposes such as disaster rescue robots,reconnaissance robots,fire robots,etc.,have attracted o lot of attention,which provides strong support for handling emergency incidents concerning public safety.This research focuses on a subsystem of the robot command and control system for public security,which is the execution unit of the system-remote control robot.On the one hand,the robot remote control system can remotely control the robot as well as collect and display the field data and video images;on the other hand,the system interacts with the robot command and control system.In this paper,the robot remote control system is designed and implemented.The main research work includes:(1)On the basis of reading a large number of essays of relevant researches,this paper summarizes the present research status of related fields domestically and globally.Based on the demand analysis of the robot remote control system,the overall framework of the system is set up,and the key modules of the system are defined.(2)The Socket connection is adopted to realize the two-way communication among the remote control system,the robot and the robot command and control system.The command and status information,task information and other data,are transmitted using TCP protocol to ensure the accuracy and reliability,while the video information uploaded by robots is transmitted through UDP protocol to improve the transmission speed and real-time performance.A specific communication protocol between the system and the robot has been established.Graphical interface and external interfaces are provided by the system,such as game controller,keyboard,for remote control of robot.The system can also display and store all kinds of sensor data transmitted from the robot.Using streaming media technology,remote video monitoring clients are developed both on the Windows platform using FFmpeg open source library function and,on the Linux platform using Live555 fulfilling the purpose of video receiving,decoding and displaying.The design of the system database and encapsulation database interface to operate on the database are completed.In addition,the system provides external database access interface.(3)According to the identified system scheme,the robot remote control system is designed and implemented on Windows and Linux platforms,taking a small and miniature robot as an example.