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THE RESCUE ROBOT HARDWARE CONCEPT
As mentioned in the introduction, this robot is developed to solve the problem of the previous version CEO Mission I robot to have the better victim access ability. In Fig.1, the CEO Mission II is showing how to use the multi-joint mechanical arm to explore the vital signs of a victim in the box which locate in the upstairs. It is faster and easier to sense the vital signs.
Our main design concept is using the simple method but highly effective and reliable. The block diagram of the rescue robot system SS Type Three-Foot Centrifuge

is shown in Fig. 2. The robotic system design is separated to two parts of functions; those are the controlling and monitoring. All of controlling commands are sent from operator’s computer to robot via Wi-Fi 802.11b. The controlling commands compose of the locomotion control, robot’s device on-off and multi-joint mechanical arm control. While all signals from robot sensors are monitored and sent via Wi-Fi 802.11b. In order to monitor audio and video in real time, another transmitter is required via Wi-Fi 802.11g. So we can get the 30 frames/sec. video rate for 324x248 resolution size. A wireless router 802.11 b/g is used at operator side for communication between operator and robot.
Because controlling function and monitoring function are devided as shown, so hardware on robot is quite simple as shown in Fig. 3. Three CPUs are used separately for each function. They communicate with each other via serial port pin. The CPU1, 40pins, MCS51, is assigned for all data sensing collection such as, 5 distance sensors, left/Right flipper angles, infrared temperature sensor, 2 voltages of batteries, and compass/pitch/roll angle of robot body. The CPU3, 20 pins, MCS51, is used only for counting encoder pulse of left/right robot wheel. All of collecting data is wirelessly sent to the operator side via serial to Wi-Fi module 802.11b. In addition, the CPU1 also handle 4 key pads and 16 x 2...