| With the popularity of Android smart devices and the wide use of WiFi(Wireless Fidelity)networks,remote control technology based on WiFi is possible.Relying on the company's actual project "Automatic Loading Robot",in order to solve the requirements of remote control of robots,a system based on Android platform was proposed as a solution for the remote control platform of loading robots.The Android platform controls the movement of the loading robot by WiFi network and capture the video of the robot and play it on the Android client in real time so as to observe the working status of the robot.Different from firmware type controller,the Android platform use a common platform to implement a dedicated control system,which have the advantage of the software developed once and can be used anywhere and increases its flexibility.Firstly,the development of robot remote control technology at home and abroad is analyzed,and the overall design scheme of remote control system based on Android platform is put forward according to the current research status and the work requirement of the loading robot.The modular design is adopted to design and analyze the video module and remote control module.Focusing on how to improve the real-time performance and reliability of the control platform,the following major works have been done.The shortcoming of WiFi technology that use it in industry control is analyzed.By using the high and low look-up table method to improve the speed of data validation,CRC has high error detection rate and high reliability,but the continuous retransmission of data causes the communication speed to slow down.The CRC calibration mode is improved and the real-time performance of the system is improved.Through the use of improved CRC code and Hamming code hybrid coding mechanism,using Hamming code to correct error data,reduce the number of data retransmission,improve the real-time and reliability of WiFi communication can meet the "automatic loading robot"control requirements.The remote-control platform adopts the C/S(Client/Server)type of architecture.The main control computer of the robot is the server,which is based on Linux system,and the manual control panel is the client,which is based on Android system.There is multimedia processing modules in Android system,but the support format is very few.In order to decode and playback of streaming media,transplant FFmpeg library to Android system is a good way to make up for the lacking of Android multimedia.After receiving video data from the Android mobile client,the video frames are made up of frame number and frame number,and the audio and video decoding and format conversion are realized by calling the FFmpeg decoding library,and the final display is displayed on the screen.The audio stream is selected as the mainstream,the video stream is from the stream,the video stream is controlled to coordinate the audio stream,and the feedback regulation mechanism is used to ensure the sound and video synchronization in a stable and efficient way.The video frame dropping mechanism is used to improve the fluency of video playback so as to better observe the working state of the loading robot.Finally,a remote control platform is built to realize the remote operation.The remote operation and monitoring system of the robot are programed on Android platform,which is used in practical now. |
PDF Full Text Request