Remote-control Real-time Video Interactive Robot

摘要

This paper introduces a remote-control real-time video interactive robot. To realize the Internet access, we use an ARM Cortex-A53 processor as the main controller, embedded with the Linux operating system. An improved PID closed-loop speed algorithm is developed to control the Mecanum wheels more intelligently and accurately, so that the robot has the ability of plane omnidirectional motion. We use a FOC algorithm controlled brushless motor to achieve camera pan-tilt 360° rotation in the horizontal direction and realize Wi-Fi and Bluetooth communication based on the Intel 9260 wireless module. The camera real-time data is encoded through the FFmpeg technology, streamed by RTMP protocol, and transmitted by Nginx server. The robotic arm can be replaced with alternative modules to realize remote environmental control and interaction. The average delay of the video data stream is about 150ms, and the robot responds well within a range of about 10m around the Wi-Fi node.