Research On Wireless Communication System Of Micro Wall-climbing Robot Motion Control

This article is intended for the problems and requirements of the robotics researchon the basis of the863projects--micro wall-climbing robot research. Combining thecharacteristics of tiny robots, this article proposed and designed the wireless monitoringand control platform for the robot to meet control operations.The research of this thesis focuses on the following aspects：The research investigated domestic and foreign current situation and keytechnologies needed for this topic of micro wall-climbing robot in miniature climbingrobot design technical indicators and drive control method and produced micro-robotparts and assembled them into entities. The designed robot adopted a newelectromagnetic monolayer drive according to the standard size of20mm*20mm*30mm. Based on the analysis of the robot motion, this thesis discussed the motioncontrol method, gait control timing and the derivation of the kinematics model andanalyzed the relationship between the speed of robot movement, movement of thepattern and gait so as to lay the foundation for the design of the wireless control systemof the robot.Based on Robotic cable requirements and robot characteristics, a wireless controlsystem is developed and produced, which is controlled by a dual-controller—51micro-controller-based robot control part and part of ARM core-based remote master.The robot control part is powered by the lithium polymer battery with the51micro-controller being the core of embedded control and the L9110chip as the drivecircuit. According to the robot gait characteristics, this research designs, develops andsimulates the timing of the motion control. With ARM Linux structure, the robot masterplatform accomplishes building embedded cross-compiler environment and embeddedsoftware development platform, compiling S3C2440and transplanting embedded Linuxoperating system for the ARM embedded board, developing Linux device drivers,introducing and developing Qt/Embedded programs. This research provides a simple,intuitive man-machine interface for robot operation and facilitates the operation of therobot and meets the portable needs. On the basis of comprehensive comparison ofmeans of communication, these two parts adopted the nRF24L012.4GHz RFcommunication module as the core of the wireless communication. This module ischaracterized by a small size, fast speed of communication and strong anti-interference ability to carry large volumes of data. This module can transfer audio, screen,temperature sensor information and the driver of51and nRF24L01module is produced.The design of hardware circuitry and draw the robot control circuit PCBexperimental plate welded on the circuit. The entire control portion size can becompressed into20mm*10mm*35mm, a mass of less than20g. The researchcompletes its test on the entire system, including the testing of a wirelesscommunication system, SCM control system testing, and the tiny robot drive circuittests and the whole test. Through debugging and testing, the system is able to achievewireless communication control from50m, with convenient operation interface, andgood interactivity.