Development Of Patrol Robot Control System Based On EXYNOS 4412 Microprocessor

With the increase in large buildings such as buildings,passenger transportation centers,logistics centers,residential quarters,commercial supermarkets,and warehouses,the demand for security is increasing.The traditional fixed-point monitoring can not protect the entire building group well,and the manual patrol method alone will greatly increase the security cost.Therefore,in order to improve security efficiency and reduce labor costs,a combination of manual patrol,patrol robot and fixed-point monitoring is adopted to achieve the complementary purpose of the three.Patrol robots are often used for dynamic monitoring,and can work in harsh environments,or move to monitoring dead angles for fixed-point monitoring.This thesis focuses on the direction of the patrol robot control system,aiming to develop a patrol robot that can remotely control and transmit image and sound information in real time.This design combines Samsung 4412 embedded platform,patrol robot,LAN,server,Android client,PC client,realizes remote control of patrol robot by Android client and PC client,and transmits image and sound.In this design,the Android client and the PC client are collectively referred to as the remote control terminal,the Android client is written in the Java language,and the PC client is written in the C# language.The Android client is developed using Android Studio 2.0 tools and can run on Android phones with system version 4.0 or higher.The PC client is based on Visual Studio 2015 and gets remote control data via an external gamepad.The remote control terminal transmits data through WiFi,and can remotely control the patrol robot,transmit sound information to the patrol robot,and acquire image information collected by the patrol robot.In order to ensure that the patrol robot can quickly respond to the control information sent by the remote control client,the network communication protocol in this design adopts the UDP protocol.In order to make the image information received by the remote control client clear and smooth,the image information of the acquisition end is compressed and encoded in the design.In this design,the Samsung 4412 embedded platform adopts the model iTOP4412 embedded development board,runs the Linux operating system,receives the control information and sound information transmitted by the remote control terminal through the external WiFi module,and captures the image captured by the USB camera.The information is sent to the remote console.In order to ensure that the patrol robot can accurately respond to the control information sent by the remote control client,the STC15 single-chip microcomputer is used in this design to drive the DC motor that controls the patrol robot forward and backward,the steering motor that controls the patrol robot to turn left and right,and the patrol robot head rotation.Two-way steering gear.The STC15 MCU receives the control information transmitted from the iTOP4412 development board through the serial port,thereby controlling the patrol robot to perform some mechanical operation.In order to ensure that the steerable robot remote control system has a large steerable range,this design simulates a real-world scenario by setting up a LAN.The network topology composed of three routers,combined with NAT penetration technology,enables two devices not on the same network segment to implement network communication.The server program runs on the PC to assist the remote console in establishing a connection with the iTOP4412 development board.The server,remote control client,and patrol robot are connected to different routers.