RescueTheDesignofSmartRescueRobotBasedontheARMRemoteControl

Abstract. CPU uses STM32F103RBT6 as core， human thermal infrared sensors， ultrasonic sensors and temperature sensors as detection systems， motion control module as the power system， real-time monitoring and control system， wireless data communication system and wireless audio and video tranission system as robot's "ears" and "eyes"， so that a robot is capable of all-round， three-dimensional "feel" the environment， and make accurate judgments and control artificially.
Key words： wireless communications； wireless audio and video tranission； human thermal infrared sensor； ultrasonic sensor； temperature sensor

1 Introduction

In recent years， earthquakes and other natural disasters occur frequently， causing huge economic losses. Post-disaster relief work has been attracting the most attention， but facing the complexity of the post-disaster environment， rescue workers cannot enter some places， and cannot make a judgment of the complex state inside and whether there are people trapped. In this case， water， food and other relief supplies will not be served. Based on these two points， we research and design a art remote rescue robot， which reached the expected experimental results through tested.
2 The Overall Design of an Intelligent Rescue Robot
The integrated design employs ARM development board as the major hardware， external ultrasonic sensors， temperature sensors， the human thermal infrared sensor， motion control modules， wireless communication module and wireless audio and video tranission module as the hardware circuit to make the robot detect changes in the environment and the existence of life in walking process. The motor of movement and control module employ the torque 280 motor inductance and the chip is L298N dual H-bridgedriver chip， with a direct drive to 3-30V DC motor and load

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of 7.5KG. Wireless audio and video tranission module enable PC receiving control terminal to monitor its surrounding environment， and thus control the direction and route of the robot's "walking". Wireless communication module is an important part of the data communication tranission module of the robot， as the detected information all around the robot needs to be tranitted through it. PC software in the entire process of controlling a robot played a full surveillance role， as it has to control the route， receive a video screen， and also display the surrounding environment information and increase the robot's judgment ability. The overall system design diagram is shown in Figure 1.

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Switch （command）
{
Case 'a'： / / forward command
LED0_PWM_VAL1 = se speed； / / se the left side of the forward speed of the track
LED0_PWM_VAL2 = 0；
LED0_PWM_VAL3 = se speed； / / Se the forward speed of the right side of the track
LED0_PWM_VAL4 = 0；
Print （"forward ＼ r ＼ n"）；
Break；
...........
}
}
}

3.5 Wireless Communication Module

Wireless communication module adopts APC220-43 wireless data tranission module and uses transparent data tranission as its external interfaces， with a transparent tranission of data of any size. Inside it has set a buffer zone with a large capacity of site 256 bytes， which can traner 256bytes data at one time. It is embedded within a high-speed single-chip and high-performance RF chip， adopts efficient circulation intertwined correction error detection code， which can rectify continuous burst errors of 24bits with a coding gain of nearly 3dBm. It can automatically filter out errors and false information， realizing a transparent connection. APC220-43 wireless communication module is shown in Figure 4.
3.6 Wireless Audio and Video Tranission Module
Wireless audio and video tranission module includes USB audio and video capture card， wireless audio and video signal tranission module and the detection camera. The USB audio-video acquisition card and the wireless receiver modules are connected together as a wireless audio and video image receiving end while the detection camera and wireless tranitt

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er module are connected together as the emitting end of the wireless audio and video images. The video image is tranitted through the wireless tranitter module and the wireless receiver module.

4 System Software Design

PC control receiving end mainly includes four parts： video operating area， feedback area， and robot-controlled areas and data tranission area. A PC controls the receiving end is shown in Figure 5.

4.1 Video Operating Area

Video operating area includes the bottom of "Start"， "Video Source"， "Video Format" and "Se Image". Through tests， if we chose 640 * 480 resolutions in the entire video settings， we will get a better video image of pixel depth of YUYZ format.

4.2 Feedback Area

Its main function is to receive the detected current surrounding environmental information， including the current ambient temperature， the distance from the obstacle， and the existence of humans， etc.. It has the automatic update function of probing information， with real-time feedback to the current observation information.

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