CN103324178A - Wireless robot long-range control system based on WIFI - Google Patents

Abstract

A WIFI-based wireless robot control system, including a hardware part and a software part; the hardware part includes an arm microprocessor for controlling the robot, a serial port communication module, a camera, a wireless router, a WIFI module, and the operator performs monitoring at the remote monitoring end. The monitoring PC is called the monitoring PC; the software part includes the serial port communication program and the host computer monitoring program. The camera data is directly transmitted by the WIFI module and its driver, without writing codes; this remote control system mainly realizes the data communication between the robot and the monitoring PC, and the man-machine interface for remote monitoring by the operator. The operator remotely controls the robot on the job site through the monitoring PC, and transmits the real-time data monitored by the robot on the job site to the operator's monitoring PC. This system has the characteristics of small size, low cost, low power consumption and good versatility, and can be widely used in the control of robots.

Description

A WIFI-based wireless robot remote control system

Field

The invention is aimed at a remote control system of a robot and belongs to the field of industrial control.

Background technique

At present, robots are a hot spot in today's scientific and technological research. Robots can replace people to complete specific tasks, so as to reduce the use of labor and prevent people from working in dangerous or unhealthy environments. Robots are divided into autonomous and semi-autonomous. Autonomous robots can complete a certain work independently without human intervention; semi-autonomous robots require people to control it to work. Limited by the development of robot technology and detection technology, it is not realistic for robots to work completely autonomously in complex industrial environments. Robots using remote teleoperation can use artificial intelligence to complete robot control in complex environments, which is the best choice under realistic conditions.

This control system can realize the remote operation mode of the robot. It provides a good human-computer interaction interface through which the operator can issue instructions to the robot. report to the operator. The operator gives appropriate control instructions according to the running state of the robot, so that the robot is in a semi-autonomous working state.

This control system enables the ARM microprocessor of the robot to receive the control commands sent by the monitoring PC, and at the same time, the robot can feed back video data and motion parameters (speed, etc.) to the monitoring PC through WIFI.

Contents of the invention

The purpose of the present invention is to provide a WIFI-based wireless robot remote control system for the deficiencies of the existing autonomous working robot technology.

The system composition of the present invention includes a hardware part and a software part;

The hardware part includes: ARM microprocessor for controlling the robot, camera, wireless router, WIFI module, serial communication and monitoring PC;

The ARM microprocessor is used to directly control the movement of the robot. The ARM microprocessor and the WIFI module are connected through a serial port, and receive the control instructions sent by the monitoring PC to realize the control of the robot.

The wireless router is used to build a wireless local area network to realize the communication between the robot and the PC in the network. Connect the router to the Internet network, and any PC in the Internet network can communicate with the robot and control the robot with the help of the router forwarding.

The WIFI module is in the same mode as the PC in the network, both are clients under the LAN, and communicate with the LAN. It can convert the video data of the camera and the motion parameters that the ARM microprocessor needs to send to the PC into WIFI signals. When the WIFI module and the PC are connected to the LAN, the PC establishes a communication channel by connecting the IP address of the WIFI module. The PC can receive video data and motion parameters sent by the ARM microprocessor, and can also send control parameters to the WIFI module to control the ARM microprocessor.

The PC is the operator's monitoring platform for the robot. On the PC, you can see the real-time video of the work site captured by the robot and the motion parameters of the robot. At the same time, you can also send control commands through the PC to realize the control of the robot;

The camera can shoot 480*320 color video, and the video data is transmitted to the WIFI module through USB;

The hardware connection is shown in Figure 1.

Through the above-mentioned hardware connection, the ARM microprocessor can communicate with any PC on the Internet. The data flow of the system is shown in Figure 2.

The software part includes: serial port communication program and host computer monitoring program, and the transmission of camera data is directly completed by the WIFI module and its driver;

The format of the communication frame established in the serial communication program is:

Frame header + valid data + frame tail;

Among them: the frame header is 0xA5, and the frame tail is valid data and check bytes, that is, a byte obtained by unsigned accumulation of data.

The advantage of this format is that the frame header can be used as a sign to judge the starting position of a frame of data, and the frame tail can be used to check whether the valid data is received accurately or not.

The receiving program is shown in Figure 3.

The PC monitoring software is responsible for interacting with the user, receiving the user's command and then forwarding it to the robot through the WiFi module, and at the same time presenting the data returned by the robot, such as the robot's own status data and collected video signals to the user, and the communication transmission of data is the use of the module Completed by the ser2net software in the module, the module transmits the received network data to the serial port; the received serial port data is sent to the network to realize data communication;

The PC monitoring software adopts the Socket network programming under .Net, uses the connection-oriented TCP protocol, and calls several functions and methods provided by the programming software. By filling in the IP address, use the Connect method to first communicate with the remote host, namely the WiFi module. Establish a connection, call the Send method to send data to the network for the WiFi module to receive, and use the Receive method to receive messages from the network. Since the Receive method needs to continue to receive network messages, in the newly created background thread, use the while loop, every Time calls the Receive method to view the data in the receive buffer. the

Its interface is shown in Figure 4.

Beneficial effects of the present invention: the remote control system is designed for the remote control of the robot on the work site by the operator at a distance, and can realize the data communication between the robot and the remote monitoring PC. The data communication is realized through WIFI and connected to the Internet network, which can truly realize the remote control of the robot, and can ensure the high-speed and real-time communication. The entire remote control system has the characteristics of small size, low cost, low power consumption and good versatility, and can be widely used in remote control of robots.

Description of drawings

Fig. 1 is a hardware connection block diagram;

Figure 2 is a schematic block diagram of system data flow;

Fig. 3 receiving program block diagram;

Figure 4 is the interface diagram.

Detailed ways

In conjunction with the accompanying drawings, the description is as follows:

The system composition of the present invention includes a hardware part and a software part;

The hardware part includes: ARM microprocessor for controlling the robot, camera, WIFI module, serial communication and monitoring PC;

The ARM microprocessor is used to directly control the movement of the robot. The ARM microprocessor receives the control commands from the outside world through the serial port to control the robot to make corresponding actions. The ARM microprocessor and the WIFI module are connected through the serial port;

The WIFI module can establish a WIFI hotspot, convert the video data of the camera and the motion parameters that the ARM microprocessor needs to send to the PC into WIFI signals, and when the PC is connected to the hotspot, it can receive the video data and the ARM microprocessor. The motion parameters sent, and the PC can also send the control parameters to the ARM microprocessor through the hotspot;

The PC is the platform for the operator to monitor the robot. On the PC, you can see the real-time video taken by the robot and the motion parameters of the robot, and you can also send control commands through the PC;

The camera can shoot 480*320 color video, and the video data is transmitted to the WIFI module through USB;

The hardware connection is shown in Figure 1.

Through the above-mentioned hardware connection, the ARM microprocessor and the PC can communicate with each other. The data flow of the system is shown in Figure 2.

The software part includes: serial port communication program and host computer monitoring program, camera data is transmitted through the WIFI module and its driver;

The format of the communication frame established in the serial communication program is:

Frame header + valid data + frame tail;

Among them: the frame header is 0xA5, and the frame tail is valid data and check bytes, that is, a byte obtained by unsigned accumulation of data.

The advantage of this format is that the frame header can be used as a sign to judge the starting position of a frame of data, and the frame tail can be used to check whether the valid data is received accurately or not.

The receiving program is shown in Figure 3.

The PC monitoring software is responsible for the information interaction between the operator and the robot. After the PC receives the operator’s command, it forwards it to the robot through the WiFi module. The signal is presented to the user and the communication transmission of data is completed by using the ser2net software in the module. The module transmits the received network data to the serial port; the received serial port data is sent to the network to realize data communication;

The host computer monitoring software adopts the Socket network programming under .Net, uses the connection-oriented TCP protocol, and calls several functions and methods provided by the programming software. By filling in the IP address, use the Connect method to first communicate with the remote host, that is, the WiFi module. Establish a connection, call the Send method to send data to the network for the WiFi module to receive, and use the Receive method to receive messages from the network. Since the Receive method needs to continuously receive network messages, in the newly created background thread, use a while loop to Time calls the Receive method to view the data in the receive buffer. the

Its interface is shown in Figure 4.

Beneficial effects of the present invention: the control system is designed for the communication between the ARM microprocessor (lower computer) in the robot and the PC (upper computer) operated by the operator, and the robot can receive the control instructions sent by the operator, At the same time, the on-site data (video, equipment operation status, etc.) of the operation end can be sent to the operator. The ARM microprocessor has the characteristics of small size, low cost, and low power consumption, and is widely used in the control of robots, but the ARM microprocessor does not support WIFI communication. However, WIFI communication is an ideal choice for human-computer interaction between robots and operators working in a complex unstructured environment. For example, the transmission of video data must be transmitted through WIFI, and other wireless communication methods cannot meet this requirement. High-speed data transmission is required, and WIFI can connect to LAN or Internet, which is very beneficial for remote control of robots.

Claims (1)

1. radio equipment people control system based on WIFI is characterized in that: described system consists of and comprises hardware components and software section;

Hardware components comprises: be used for ARM microprocessor, camera, wireless router, the WIFI module of control, serial communication modular and remote monitoring PC;

The ARM microprocessor is used for direct control unit device human motion, and the ARM microprocessor links to each other by serial ports with the WIFI module, and the receiving remote telecommand is also finished the control of corresponding robot;

Wireless router is used for making up WLAN, PC communication in realizing robot and netting, if router is connected to the Internet network, the PC in any Internet network is transmitted by router, can both carry out communication with robot;

The WIFI module is identical with PC pattern in the net, it all is the client under the LAN (Local Area Network), carry out communication by LAN (Local Area Network), the kinematic parameter that it can need to send to PC with video data and the ARM microprocessor of camera is converted to the WIFI signal, after WIFI module and PC all are connected to LAN (Local Area Network), PC is set up communication channel by the IP address that connects the WIFI module, make the PC can receiving video data and the kinematic parameter that sends of ARM microprocessor, also can send the control parameter to the WIFI module simultaneously, and then control ARM microprocessor;

PC is the platform of Human-to-Machine people's monitoring, on PC, can see the real-time video of robot shooting and the kinematic parameter of robot, also can pass through the PC sending controling instruction simultaneously;

Camera can be taken 480 * 320 color video, and video data transfers to the WIFI module by USB;

Software section comprises: Serial Communication Program and ipc monitor program, and the camera data transfer is directly transmitted by the WIFI module, does not need to carry out in addition Software for Design;

The communication frames form of setting up in the Serial Communication Program is:

Frame head+valid data+postamble;

Wherein: frame head is 0xA5, and postamble is valid data and check byte, namely data is done without the cumulative byte that obtains of symbol;

Host computer monitoring software is responsible for carrying out alternately with the user, the order that receives the user changes into serial data through the WiFi module and sends to robot, the data of simultaneously robot being returned, the communication transfer of presenting to operator, data such as the vision signal of robot oneself state data, collection is to utilize the ser2net software in the module to finish, and module arrives serial ports with the network data transmission that receives; The serial data that receives is sent to network, realizes data communication;

Host computer monitoring software adopts is Socket network programming under the .Net, what use is connection-oriented Transmission Control Protocol, called the functional based method that several programming softwares provide, by filling in the IP address, using the Connect method is that the WiFi module connects with distance host at first, call the Send method data are sent to network, receive for the WiFi module, and utilize the Receive method to receive the message of automatic network, because the Receive method need to continue to receive internet message, in newly-built background thread, utilize the while circulation, to the Receive method call, check the data that receive in the buffer memory at set intervals.

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