Research Of Robot Network Control And Video Capturing Based On ARM Embedded Linux

Mobile robot remote control and image acquisition is the key technology in the field of robotics. With the rapid development of information technology, research of embedded systems and computer network technology has become a hot spot. Robot based on embedded system, through the computer network technology, robot's remote control and video supervising, both are better to use existing network resources; also reflects the embedded system's flexible, powerful features. The system combined embedded systems and network technology to make the robot system more stable and powerful in computing capability, and laid foundation for research and development in robot platform.In this thesis, small wheeled mobile robot's network remote control and image acquisition were studied. The project developed a system to target S3C2440 core hardware platform for the embedded Linux platform. The embedded side connect USB digital camera interface with the image Video4Linux interface to capturing video information, and make the image compression. Use Internet as a medium, with the embedded Web server and CGI technology to achieve the image remote transmission; developed remote control software based on B/S mode, realized basic movements of the robot control and remote video supervising functions.This thesis introduces the remote control of mobile robot research status and development trend, and introduced the development platform on the ARM microprocessor, Arduino controller and its peripheral device are also introduced. And constructed embedded Linux systems development environment included Bootloader, compiling and to port the Linux system kernel, device driver modules loaded and constructed cross-compile-environment. On this basis, use the Video4Linux interface functions to achieve the image of the original data collection procedures, and use Jpeglib static libraries to realize image compression. In transmission based on B/S mode, using the embedded Web server Boa with CGI program, to realize the image real-time updates and dynamic output page. And completed the robot's motion control modules, allowing users to perform basic mobile robot motion control, the module use CGI program to send motion commands to the serial port, The Arduino controller is commanded and drive peripheral hardware modules in accordance with instructions movement. Finally, the application system completed the test and summarized the work, also discussed the inadequacies of the system and future improvements.