Research On Software System Of Mine Rescue Robot

The software system is the soul of mine rescue robot, and its main task is to plan and schedul mission, navigate autonomously, detect and gather environmental information, communicate with other remotion devices,and so on.Accoding to the software requirements analysis and by means of the theoris of software engineering, the framework structure of the software system is studied mainly. The principle of software, structure of subsystem, communication, and hardware communication protocol and so on are discussed. The researchs help to develop software system independently and cooperatively.Firstly, the software requirements about the mission, environment, key technologies, hardware, and functions of the robot are analysed in detail. Secondly, the framework structure of software system is designed, and the multi-layer structure is put forward based on Windows platform. In the whole, the software system include four subsystem: the processing systems of sensing information, motors control system, manual control system and autonomous navigation system. In the layers, the software system includes four layers: hardware layer, communication protocol layer, the core services layer and application services layer. Through dividing of functions and missions of software, the functions, position, role, and relationship of all subsystems are defined. Aimed at easy integration, independent development of software, high reliability and stability, the scheme of subsystem program is presented based on services system. By analysis of all metheod of communication of subsystem, the communication schemes based on share-memery and the way of calling other program by DLL are given. Aim at prbolem of heterogeneous hardware, the communication protocol based on RS-485 is used. Resource codes format and software interface standard are drafted, and it help to write program standardly and read easily. Finally, a robot control program is developed based on the analysis of robot motion control model, and the tests and verifies are completed. The result shows that the software system is full-featured and user-friendly, and has a rational structure, good compatibility, stability, openness and easy-maintenance.