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

Abstract

The invention relates to a wireless robot long-range control system based on the WIFI. The wireless robot long-range control system comprises a hardware part and a software part. The hardware part comprises an arm microprocessor for controlling a robot, a serial port communication module, a camera, a wireless router, a WIFI module and a PC, namely a monitoring PC, wherein an operator conducts monitoring at the long-range control end through the PC. The software part comprises a serial port communication program and an upper computer monitoring program. Data of the camera are directly transmitted through the WIFI module and a driving program of the WIFI module, and codes are not required to be written. The wireless robot long-range control system mainly achieves data communication between the robot and the monitoring PC and is provided with a man-machine interface monitored by the operator in a long-range mode. The operator controls the robot in a working site in a long-range mode through the monitoring PC, and real-time data monitored when the robot works in the working site are transmitted to the monitoring PC of the operator. The wireless robot long-range control system has the advantages of being small in size, low in cost, low in power consumption, good in universality and the like, and can be widely used for controlling the robot.

Description

A kind of radio equipment people tele-control system based on WIFI

Affiliated field

The present invention is directed to the tele-control system of robot, belong to industrial control field.

Background technology

At present robot is the focus of current science and technology research, and robot can replace the people to go to finish specific work, to reduce using and avoiding people to work of labour in dangerous or unsound environment.Robot is divided into independence and half independence, and the independence robot can finish a certain work independently, does not need artificially it to be intervened; And half independence robot needs the people that it is controlled definitely and could work.Be subject to the restriction of Robotics and detection technique development, under the complex industrial environment, make the complete utonomous working of robot also unrealistic.And adopt the robot of remote tele-operation to control by the robot that artificial intelligence is finished under the complex environment, be selection best under the current conditions.

This control system can realize the remote tele-operation mode of operation of robot, it provides a good Man Machine Interface, the operator can assign instruction to robot by this interface, and robot also can report work on the spot state and the ruuning situation of self to the operator by this interface.The operator provides suitable steering order according to the running status of robot, makes robot be in half utonomous working state.

This control system can make the ARM microprocessor of robot receive the steering order that the monitoring PC sends, and robot can feed back to the monitoring PC by WIFI with video data, kinematic parameter (speed etc.) simultaneously.

Summary of the invention

The objective of the invention is the deficiency for existing utonomous working Robotics, a kind of radio equipment people tele-control system based on WIFI is provided.

System of the present invention formation comprises hardware components and software section;

Hardware components comprises: be used for ARM microprocessor, camera, wireless router, the WIFI module of control, serial communication and 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, receives the control that steering order that monitoring PC sends realizes robot again.

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

The WIFI module is identical with PC pattern in the net, all is the client under the LAN (Local Area Network), carries 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 be the operator to the monitor supervision platform of robot, on PC, can see working site real-time video that robot photographs and the kinematic parameter of robot, also can go to realize by the PC sending controling instruction simultaneously the control of robot;

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

Hardware connects as shown in Figure 1.

Connect by above-mentioned hardware, the online any PC of ARM microprocessor and internet just can communicate.The data flow of this system as shown in Figure 2.

Software section comprises: Serial Communication Program and ipc monitor program, and the camera data transfer is directly finished by WIFI module and driver thereof;

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.

The advantage of this form is, frame head can be used as the sign of judging a frame data reference position, but whether postamble verification valid data receive like clockwork.

Reception program is shown in 3 figure.

The PC monitoring software is responsible for carrying out alternately with the user, then the order that receives the user passes through the WiFi module forwards to robot, the data of simultaneously robot being returned, the communication transfer of presenting to user, 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;

The PC 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.

Its interface as shown in Figure 4.

Beneficial effect of the present invention: this tele-control system is for realizing that the operator carries out Remote to the robot of working site a long way off and designs, can realizing the data communication between robot and the remote monitoring PC.Data communication realizes and is connected on the Internet network by WIFI, can really realize the long-distance remote control of robot, and can guarantee high speed and the real-time of communicating by letter.The characteristics such as whole tele-control system has that volume is little, and cost is low, and the low and versatility of power consumption is good can be widely used in the Long-distance Control of robot.

Description of drawings

Fig. 1 is hardware connection side block diagram;

Fig. 2 is that system data flows to block diagram;

Fig. 3 reception program block scheme;

Fig. 4 is surface chart.

Embodiment

Accompanying drawings is as follows:

System of the present invention formation comprises hardware components and software section;

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

The ARM microprocessor is used for direct control unit device human motion, and the ARM microprocessor receives the extraneous steering order of coming by serial ports and comes control to do corresponding action, and the ARM microprocessor links to each other by serial ports with the WIFI module;

The WIFI module can be set up a WIFI focus, the kinematic parameter that video data and the ARM microprocessor of camera need to be sent to PC is converted to the WIFI signal, after PC is connected to this focus, just can receive the kinematic parameter that video data and ARM microprocessor send, PC also can send the control parameter to the ARM microprocessor by this focus simultaneously;

PC be the operator to the platform of supervisory control of robot, on PC, can see real-time video that robot is taken and the kinematic parameter of robot, also can pass through the PC sending controling instruction simultaneously;

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

Hardware connects as shown in Figure 1.

Connect by above-mentioned hardware, ARM microprocessor and PC just can carry out mutual communication.The data flow of this system as shown in Figure 2.

Software section comprises: Serial Communication Program and ipc monitor program, and the camera data transfer transmits by WIFI module and driver thereof;

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.

The advantage of this form is, frame head can be used as the sign of judging a frame data reference position, but whether postamble verification valid data receive like clockwork.

Reception program shown in 3 figure.

The PC monitoring software is responsible for the information interaction between operator and the robot, after PC receives operator's order, process WiFi module forwards is to robot, the field data that simultaneously robot is obtained, the communication transfer of presenting to user, data such as the vision signal of the motion state data of robot self, collection is to utilize the ser2net software in the module to finish, module with the network data transmission that receives to serial ports; 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.

Its interface as shown in Figure 4.

Beneficial effect of the present invention: this control system is to be the communication Design between the PC (host computer) of ARM microprocessor (slave computer) and operator operation in the robot, robot can receive the steering order that the operator sends, simultaneously operation end field data (video, the information such as equipment running status) can be sent to the operator.The characteristics such as the ARM microprocessor has volume little, and cost is low, and power consumption is low be widely used in the control of robot, but the ARM microprocessor are not supported the WIFI communication.Yet the WIFI communication is a kind of ideal selection when carrying out man-machine interaction between the robot of working and the operator in the destructuring environment of complexity, transmission such as video data must could be transmitted by WIFI, other wireless communication modes can't satisfy the requirement of this high speed data transfer, and WIFI can connect LAN (Local Area Network) or the Internet, and this Long-distance Control for robot is highly beneficial.

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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