CAJ | 학술논문

本文设计了一种基于嵌入式Linux的微小型侦察机器人控制系统。整个系统分为主控制器模块、运动执行模块、视觉模块、无线通讯模块和电源模块。在S3C2440芯片上移植了Linux操作系统，开发了电机驱动程序，配置了MJPG-streamer视频服务器，实现无线控制命令的传输和电机控制。用户能够在智能手机上查看目标视频，通过点击视频图像中目标点位置的方式对机器人发送控制命令。最后，通过实验对系统功能和运动精度进行了测试。
본문설계료일충기우감입식Linux적미소형정찰궤기인공제계통。정개계통분위주공제기모괴、운동집행모괴、시각모괴、무선통신모괴화전원모괴。재S3C2440심편상이식료Linux조작계통，개발료전궤구동정서，배치료MJPG-streamer시빈복무기，실현무선공제명령적전수화전궤공제。용호능구재지능수궤상사간목표시빈，통과점격시빈도상중목표점위치적방식대궤기인발송공제명령。최후，통과실험대계통공능화운동정도진행료측시。
This paper designs a control system based on embedded Linux for micro recon robots. In the system, the user sends control commands to the recon robots by clicking the screen of a smart phone. The robot system comprises the main controller module, the motion execution module, the vision module, the wireless communication module and the power supply module. Linux operating system is ported to S3C2440 processor to implement user application, motor driver development, MJPG-streamer video server conifguration and wireless communication. The system functions and robot motion accuracy are veriifed by experiments.