Research On Motion And Monitoring System For Small Mobile Reconnaissance Robot In Dangerous Environment

Mobile detection robots usually need to enter into unknown dangerous environments to help people perform related reconnaissance or detection tasks.The operator can obtain the environment information and the working state of the robot through the human-computer interaction interface,and control the robot to complete the tasks of sampling,reconnaissance,emergency disposal and so on.The corresponding theoretical and experimental research on the movement and monitoring system for the small-sized mobile detection robot is carried outIn order to understand the current development situation,the developing status and existing problems of mobile robot at home and abroad is analyzed carefully.On this basis,according to the design requirements and work characteristics of small mobile detection robots,a small mobile reconnaissance robot is designed.The small mobile reconnaissance robot uses a crawler and guide arm motion structure to adapt to the severe environments such as sand,gravel,snow,grassland and so on.This robot also can climb the ladder or slope which is not more than 45 degree?The robot adopts three layers control structure of monitoring level,device level and drive level.The monitoring level uses remote operation control box and mobile intelligent terminal as the platform of human-computer interaction.The operator can control the robot remotely through multi terminal.In view of the demand for stable and reliable video transmission in robot control system,a reliable video transmission framework based on RTP real-time flow is designed.The process of video acquisition,video compression,data packaging,and video transmission and so on is introduced in detail.Video compression adopts the format of H.264 and completes real-time coding through X264 encoder.Code experiments show that the coding compression based on X264 has a good compression ratio,while ensuring the video quality with a smaller video rate.The compressed video stream is transmitted through the RTP protocol,and the adaptive network transmission control is realized with the feedback information of the RTCP protocol.The experiment shows that the video transmission framework based on RTP real-time flow has a better QoS.With the development of multimedia,network and mobile intelligent terminal technology,people are more and more inclined to use mobile terminal to complete some work such as video monitoring or remote operation.The combination of the robot monitoring system and the mobile intelligent terminal can bring better flexibility.Compared with the traditional robot control terminal,it has the advantages of easy maintenance and portability.A master-slave video surveillance system for mobile detection robot is designed in this thesis.The monitoring system uses the C/S architecture,which takes the remote control box of the robot as the server and the Android mobile tablet as the client.It can meet the requirements of the multi-terminal control for the mobile reconnaissance robot.The mobile detection robot usually need to enter into a relatively dangerous environment to carry out the detection task,and the fire environment is relatively common.On the one hand,the robot needs to avoid the flame to protect its own safety.On the other hand,the robot needs to remind the operator on time.Therefore,it is necessary for mobile robots in dangerous environment to have the function of flame detection.A flame detection method based on robot visual features is designed.Robot vision information contains a large amount of information,so the relevant feature can be extracted and used to conduct flame detection.Different flame detection strategies are taken according to the types of sensors carried by the robot and the motion state of the robot.