Research On Remote Monitoring System Of Ground Mobile Robot

In order to realize environmental exploration in a variety of environments and to replace people in difficult environments and situations to complete heavy and dangerous tasks,the monitoring capability of mobile robots is particularly important,and it is of good practical significance to conduct research on mobile robot monitoring systems.In this paper,we take the ground mobile robot remote monitoring system as the research object,and divide it into two major schemes,hardware and software,according to the system principle.The ground mobile robot remote monitoring system is composed of a mobile robot equipped with a wireless monitoring camera and a positioning module and a remote monitoring terminal.The functional modules to be implemented in the system are:remote positioning module,remote video monitoring module,and remote control module^[1].The main research elements of this paper are.（1）For the remote control function of the ground mobile robot from the remote monitoring end,this paper will first carry out kinematic modeling and algorithm control for the chassis part of the ground mobile robot,in which the chassis control adopts a four-wheel differential model,and the commonly used control algorithms are PID control algorithm,sliding mode control algorithm,fuzzy PID control algorithm,etc.Although the above algorithms can achieve the control results,the control effect is often less ideal,so this paper uses FOC magnetic field orientation control algorithm as the basis,using MTPA maximum torque to current ratio control strategy,adding a weak magnetic control part,voltage feedforward compensation part for improvement,this control method can not only make the motor run on top of high speed,fast response,high precision,low noise,anti-disturbance,there are other control methods can not be replicated advantages of the motor to achieve"pixel-level control",which can realize real-time accurate and fast control of ground mobile robots.（2）To study the real-time positioning technology of ground mobile robots,using a combined GPS/inertial measurement unit positioning method,fusing information from GPS information and positioning data output from inertial measurement units through Kalman filtering,and performing state estimation correction through Kalman filtering algorithm to improve positioning accuracy.（3）For the remote video transmission module of the ground mobile robot,this paper uses camera-cloud server-monitoring end architecture and uses 4G signal to transmit video streams,which breaks the limitation of traditional video surveillance based on LAN and realizes the ultra-long distance transmission of monitoring video streams.（4）Verify the ground mobile robot remote monitoring system in this paper,and the system verification results show that the system is stable,reliable,and has a friendly interface,and can realize remote control positioning and video monitoring functions.