Design On Control System Of Crawler Robot Based On ARM

Crawler movement robot is a comprehensive system, the system including many function of motion control and execution, perception in the external environment, intelligent planning and decision making. Involves various subjects of artificial intelligence, electronic, mechanical structure, computer, sensor, automation control, etc. It is one of the most active disciplines in the world, combines theory science and engineering practice. Has been widely used in service, military and industrial.The thesis applicates embedded techniques, sensors collect data technology, motor control technology and wireless communication technology, design a kind of small crawler movement robot. It contains the function of collecting data in the wild or high-risk environment and transfering the data to the PC.The selection of microprocessors is LPC2132 of ARM7 as the core processor. The system chooses crawler mobile device as the movement structure, guarantee the stability of the robot movement. Various sensors applicated in the system, such as temperature sensor, visual sensor, infrared sensor, photosensitive sensor, gas sensor, etc, they are the electronic components of perceiving and collecting the external environment information. Dc machines provide the power, it will provide motivation to the crawler movement and the direction of rotation. Application of wireless communication module based on single-chip RF401.The design of control system adopts modular structure, contain control module, sensor data acquisition module, control module and wireless communication module. And designed microprocessor application circuit, sensors input/output interface circuit and motor control circuit, etc. Make the robot accomplish basic requirements of control systems.