远程遥控移动机械手的可视化实时控制

采用OTG接口连接摇杆手柄的Android手机和无线视频传输方案,来实现对移动机械手的可视化实时控制。本设计以OMAP4430开发板和Android手机为核心,通过响应摇杆水平、竖直方向的移动事件和手柄按键事件来控制机械手的地表移动及机械手马达操作,同时借助车载USB摄像头拍摄720P视频,经H264编码后用无线网卡发送到Android手机,解码后显示在控制界面上。实验结果表明,可视化远程遥控机械手能够实现全方位移动、捉取地面目标等功能,同时无线视频传输帧率达到28fps,满足实时视频传输要求。

Visual ization Real-time Control of Remote-control Mobile Manipulator

The design realizes visualization real-time remote control for a mobile manipulator using Android mobile phone connected with OTG joystick and wireless video transfer scheme.Based on the OMAP4430 development board and Android mobile phone,the system controls the manipulator to move on the ground or manipulate the motors by responsing the events which are generated by the joystick with horizontal,vertical direction moving and buttons pressing.At the same time,720P video captured by on-board USB camera and en-coded by H264 algorithm is sent to Android mobile phone through wireless network card,and then shows on the screen of the control center.The experiment result shows that the visual remote control manipulator can realize the functions of omnidirectional movement and capturing the ground target.The wireless video transmission frame rate can get to 28 frames per second,and it meets the requirement of real-time video transmission.