摘要全向移动机器人小车能在狭小作业空间高效率移动，具有体积小、作业灵活、智能化程度高等特点，尤其在狭小作业空间或转向通道中具有独特优势。远程监控系统通过Wi-Fi把小车周围的图像发送给控制端，控制端给小车下达指令，实现远程监控。86163

    全向移动机器人小车作为本次设计的被控对象,控制端是Android手持终端(PC机或手机),Wi-Fi是连接被控对象和控制端之间的枢纽。这样，手持终端上就能够实时得到机器人小车周围环境的图像，能够对机器人小车实现更加准确地控制。本文在对全向移动机器人小车的机械结构做了比较全面的介绍之后，对远程监控控制系统的主要研究内容如下:

    1)机器人小车远程监控控制系统总体设计

设计了整个远程监控控制系统的总体结构体系，详细介绍了控制系统的工作原理，并对远程监控系统的功能要求和性能要求做了描述。

    2）机器人小车远程监控控制系统的硬件设计

硬件设计方面主要包括对元器件的选型，并设计了外围接口电路，根据各个功能模块设计了电路原理图和绘制了PCB板。确定了STM32F407VG为主控板,确定无线局域网(Wi-Fi)作为系统的无线传输方式，通信模块选择嵌入式Wi-Fi模块。分析市场上几种比较常见的视频模块，选定OV2640作为本次设计的视频采集模块。

    3）机器人小车远程监控控制系统的软件设计

主要对控制系统总体架构进行了设计，机器人小车的远程控制流程图,以及核心代码介绍。

本文完成了基于Wi-Fi的全向移动机器人小车的远程监控系统的硬件设计和软件设计，可以通过PC机或Android手机远程监控机器人，实现对机器人小车的远程控制和实时监控。

毕业论文关键词：全向移动；远程监控；无线网络；机器人小车

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ABSTRACT  The omnidirectional mobile robot in narrow operation space efficient mobile, with small volume, flexible operation, intelligent degree high, especially in narrow working space or to channel has a unique advantage。 Remote monitoring system via Wi-Fi to image around the car is transmitted to the control terminal, the control terminal to the car issued a directive, to realize the remote monitor and control。

  Omni directional mobile robot as the design of the controlled object, the control end is Android handsets (PC or mobile phone), Wi-Fi is connected controlled between the object and the control end of the hub。 Therefore, the hand-held terminal can get real-time robot environment image, can achieve more accurate control of the robot car。 This paper in the mechanical structure of the omnidirectional mobile robot made more comprehensive introduction to the main research content of the remote monitoring and control system are as follows:

  1。The overall design of the remote monitoring and control system for the robot car

  The overall structure of the remote monitoring and control system is designed, the working principle of the control system is introduced in detail, and the functional requirements and performance requirements of the remote monitoring system are described。Several common video modules are analyzed, and the OV2640 is selected as the image sensor of the system。

  2。Hardware design of remote monitoring and control system for robot car

  Firstly, the main introduction is made of the omnidirectional mobile robot remote monitoring control system, the hardware part, which contains omni-directional mobile vehicle terminal hardware design and handheld terminal selection, hardware design including selection of the types of the main device, and on the outer circumference interface circuit design, also designed the circuit principle diagram and draw the PCB。 Determine the stm32f407vg main control board, determine the wireless local area network (Wi-Fi)as a system of wireless transmission and communication module embedded Wi-Fi module。