地下道勘测机器人的设计与制作

Design and Manufacture of Underpass Survey Robot

设计并制作一款用于城市中地下道的勘测和垃圾清理的机器人。该机器人以STM32单片机为主控芯片,用英伟达工控机进行视频传输。PC端与主控系统组成远程控制系统,PC端与4G模块通过TCP协议广域网连接,4G模块接收信息再通过串口发送到主控系统上。PC端与英伟达工控机组成远程监控系统,PC端通过TCP/IP协议局域网与英伟达工控机连接,英伟达工控机采集视频通过局域网发送给PC端,PC端接收图像并通过窗口实时显示。还基于PyQt开发了一款把远程控制和远程视频监控集成一体的上位机软件,通过上位机软件可以方便用户操作和使用机器人。经过调试,PC端与机器人成功建立通信并可以实时传回视频画面,机械臂成功实现夹取功能。能完成勘测和清理地下道的任务。

A robot for urban underpass survey and garbage cleaning was designed and produced.The robot used STM32 microcontroller as the main control chip and used Nvidia industrial computer for video transmission.The PC and the master control system formed a remote control system.The PC and 4G module were connected through TCP protocol wan.The 4G module received information and sent it to the master control system through serial port.The PC and Nvidia industrial computer formed a remote monitoring system.The PC connected with Nvidia industrial computer through TCP/IP LAN.The video collected by Nvidia industrial computer was sent to the PC through LAN,and the PC receivee images and displayed them in real time through a window.Based on PyQt,a host computer software integrating remote control and remote video monitoring were developed,which could facilitate users to operate and use robots.After debugging,the PC and the robot successfully established communication and could send back real-time video pictures,and the robot arm successfully realized the clamping function.It can complete the task of surveying and clearing the underpass.