基于ARM的移动机器人远程控制系统设计与实现

发布时间：2019-01-04 21:17

【摘要】：近年来,机器人技术的发展日新月异,而远程控制技术作为机器人技术的一个重要分支也进行了一场技术革新。现如今对于远程控制技术的运用也越来越广泛。嵌入式和Android系统的发展已经趋于成熟,市场上嵌入式设备、Android手机和Android平板的使用已非常广泛。为了更加便于人们对远程设备的使用,本文设计了基于ARM的移动机器人远程控制系统。该系统主要由搭载了嵌入式的移动机器人小车、Android手机和无线路由器三部分组成。实现了基于Android的移动机器人图像采集和移动机器人的远程控制。论文内容主要分为以下三个部分:一、针对整个控制系统中的核心板模块进行设计。主要包括核心板芯片的选取、WIFI的原理和使用、控制端即Android设备。然后针对ARM系统进行详细的描述,设计了对嵌入式最小系统和外围相关电路,包括:电源电路设计、复位电路、晶振电路、JTAG电路等。最后,详细的介绍了 WIFI的特点和使用设置。二、针对控制端即Android操作系统设备,编写代码制作APP,连接WIFI后可用来采集摄像头所拍摄的图片。本系统的图像采集方式较为方便,利用WIFI将移动机器人搭载的摄像头所拍摄的图片传送至手机APP软件上,通过手机可以观看到移动机器人所处的环境。通过实验,结果表明本系统对图像的采集效果良好,画质比较清晰。三、基于ARM的移动机器人远程控制系统功能的测试。首先,设计了移动机器人小车的驱动模块;然后,编写ARM嵌入式程序和制作Android手机APP;最后,搭建了测试实验场地模型,对整个系统进行验证,实现了基于ARM的移动机器人远程控制。同时,在不同环境障碍物情况下,进行了多种移动机器人远程避障的测试。实验结果表明:该远程控制系统的设计较为合理,控制比较灵活,采集到的图片较为清晰,达到了预期的预期效果。
[Abstract]:In recent years, with the rapid development of robot technology, remote control technology, as an important branch of robot technology, has also undergone a technological innovation. Nowadays, the application of remote control technology is more and more extensive. With the development of embedded and Android systems, embedded devices, Android mobile phones and Android tablets are widely used in the market. In order to facilitate the use of remote devices, a mobile robot remote control system based on ARM is designed in this paper. The system consists of embedded mobile robot car, Android mobile phone and wireless router. The image acquisition of mobile robot and remote control of mobile robot based on Android are realized. The main contents of this paper are as follows: first, the core board module of the whole control system is designed. It mainly includes the selection of core board chip, the principle and use of WIFI, and the control end that is Android equipment. Then the ARM system is described in detail, and the embedded minimum system and peripheral circuits are designed, including: power circuit design, reset circuit, crystal oscillator circuit, JTAG circuit and so on. Finally, the characteristics and usage settings of WIFI are introduced in detail. Secondly, aiming at the Android operating system device, we write the code to make APP, connected to WIFI, which can be used to capture the pictures taken by the camera. The image acquisition method of this system is more convenient. The images taken by the camera of the mobile robot are transmitted to the mobile phone APP software by WIFI, and the mobile robot environment can be viewed through the mobile phone. The experimental results show that the system has good effect on image acquisition and clear picture quality. Third, the function test of mobile robot remote control system based on ARM. Firstly, the driving module of the mobile robot car is designed, and then, the ARM embedded program and the Android mobile phone APP; are written. Finally, the test site model is built, the whole system is verified, and the remote control of mobile robot based on ARM is realized. At the same time, a variety of mobile robot remote obstacle avoidance tests are carried out under different environment obstacles. The experimental results show that the remote control system is reasonable in design, flexible in control, clear in the images collected, and achieves the expected effect.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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