introduction
In recent years, with the development of artificial intelligence technology, computer technology and other related technologies, the research on mobile robots is increasingly wide. This design is a mobile robot using OpenWRT operating system, which achieves a variety of different functions, such as probing danger, patrol, image acquisition, positioning, wireless communication, etc. It can also be studied as a good carrier of various intelligent control methods, including dynamic avoidance, path planning, and group collaboration strategies.
1 system solution
2 layer architecture. The upper layer is based on the ARM processor S3C2440, and the MINI2440 development board is used as the upper motherboard, responsible for image acquisition and passing the image through Wi? The Fi mode is sent to the distal PC. Wi? FI wireless communication is to use the PC to build a environmental platform with the wireless router.
Robots are mainly composed of hardware systems and software systems. The hardware system mainly includes: ARM processor, single chip, peripheral interface circuit, robot chassis, and power supply. The ARM processor is the core of the upper layer, and the 51 single-chip microcomputer is the core of the lower layer. Software includes: embedded Linux operating system, peripheral drivers, Linux applications, and microcontroller applications. The system does not use the usual embedded Linux version, but also a special approach, one of the unique embedded Linux distributions is one of the OpenWRT as an operating system. OpenWRT provides a fully writable file system and package management, which reduces the threshold for embedded Linux development by simple and easy to use, and improves the efficiency of system software development.
The workflow of the embedded smart mobile robot is: the sensor module collects the surrounding environment information in real time, transmitting this data information to the robot control system, and the microcontroller obtains valid data through data analysis, so that the relative position of the robot and obstacles is known. The location information generates a control signal; the single-chip generating PWM signal controls the DC motor to control the robot steering, thereby achieving the purpose of the robot independent "walking". The lower layer of the microcontroller communicates with the upper ARM processor through the serial port, and the ARM motherboard can pass the work data of the lower microcontroller control panel to wireless Wi? The fi manner is transmitted to the remote PC. The ARM motherboard can send a clear live picture collected by the USB camera to the distal PC control terminal uninterrupted.
2 system hardware design
The hardware system mainly includes: ARM processor, single-chip microcomputer, peripheral interface circuit, robot chassis, and power supply, wherein the ARM processor is the core of the upper layer, and the 51 single-chip microcomputer is the core of the lower layer. The hardware structure block diagram is shown in Figure 1.
Figure 1 Hardware structure block diagram
As can be seen from Fig. 1, the system is mainly composed of the following module: the image acquisition module, the wireless communication module, the ultrasonic ranging module, the infrared induction module, the Mini 2440, the microcontroller STC89C52, and the DC motor drive module. The following focuses on the DC motor drive module.
The DC motor drive module is at the core of the L298N chip, which has the characteristics of strong carry capacity. The DC motor drive circuit is shown in Figure 2. The peripheral circuit of the drive circuit chip is mainly connected to the 2 set of motor composed of the diode to achieve the purpose of the control motor in accordance with the set operation.
Figure 2 DC motor drive circuit
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