基于ARM11的机器人远程视觉和控制的实现

摘要

为实现通过浏览器实时监控机器人的视觉，并进行操纵，设计了一种基于ARM11处理器和B／S架构的控制方案。机器人控制系统以S3C6410作为处理芯片，以USB摄像头实现机器人视觉采集，以无线WLAN方式接入互联网。详细阐述了嵌入式Linux系统上USB摄像头、WLAN网卡驱动的编译和移植，网页服务器Boa和视频服务器Mjpg－Streamer的移植。系统实现了远程监控条件下的机器人操控，开发方便，有很强的扩展性和可移植性，机器人视觉和控制效果良好。%A control schemebased on ARM11 and B/S structure is designed to realize the real-time monitoring of robot vision andtelecontrolthrough the browser.The robot control system takes an S3C6410 ARM11 processor as a hardware platform,an USB camera as a vision monitor,and an USB wireless adaper as a network connection device.The compling and transplant-ing of device drivers,Boa and Mjpg-Streamer are described in detail.