基于远程控制的双轮安防机器人系统设计

摘要

In the dangerous environment patrol,the traditional civil air defense has a high risk of personal safety and video surveillance is easy to be destroyed.In order to solve these problems,a remote control two-wheel security robot system is proposed,which combines with two-wheel self-balancing robot's characteristics of small size,flexible operation,simple structure and strong adaptability.The system adopts the client/server(C/S)structure,two-wheel robot as the server,intelligent terminal equipment as the client.The robot software integrates the attitude angle by Kalman filter,uses the PID algorithm to realize the robot's self-balance and travel control.On the collection of a variety of sensor signals for data processing,determine alarm situation to achieve automatic alarm.Smart phones or computer terminals through the WiFi technology to access the server,achieve the robot's remote control and image transmission.The experimental results show that the image transmission response of the security robot system is fast,easy to operate,running stable and has a good application prospect.%该文针对传统人防措施存在危险环境巡逻时,人身安全风险高和视频监控易遭到破坏等问题,结合双轮自平衡机器人体积小、行动灵活、结构简单、适应性强等特点,提出了一种可远程控制的双轮安防机器人系统.该系统采用客户端/服务器(C/S)结构,以双轮机器人作为服务器,智能终端设备作为客户端.机器人软件部分通过Kalman滤波对姿态角进行融合,利用PID算法实现机器人的自平衡及行进控制,对采集的各种传感器信号进行数据处理,判断警情实现自动报警;智能手机或电脑终端通过WiFi技术访问服务器,实现对机器人的远程控制和图像传输.试验结果表明,该安防机器人系统图像传输响应迅速、操作简便、运行稳定,具有很好的应用前景.