【作者】 阎伟萍；

【导师】 马家辰；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2010， 硕士

【摘要】 随着机器人技术和网络技术的发展,网络遥操作机器人日益受到关注,成为研究的热点,它应用于危险环境下的远程作业、太空探索、远程医疗以及远程教育等众多方面,具有广阔的应用前景。本文以上海化工园区有毒气体智能巡检机器人为对象,对移动机器人网络遥操作系统进行研究,设计实现一个基于C/S模式的移动机器人网络遥操作系统。本文主要完成以下工作:首先介绍了遥操作机器人的总体结构和各模块组成,通过分析移动机器人的运动方式,建立了双轮差分驱动的运动学模型;由于网络传输时延是影响远程控制稳定性的一个主要因素,因此对网络时延进行了测试和分析,提出了针对不同时延状况选取不同控制策略的方案。其次,为了让客户端获得直观的机器人图像,采用VFW(Video for Windows)对视频图像采集,针对机器人视频图像信息数据量大,实时性要求高等问题,应用H.263视频压缩编码标准对采集的图像压缩;考虑到不同类型的数据对数据传输的要求不同,采用TCP方式Socket通信传输控制指令,应用UDP方式Socket通信进行视频数据传输,并采用加数据包头的方式,解决传输丢包、乱序等问题。最后,采用VC++实现了服务器端与客户端的网络通信。建立了多线程机制,提高了系统的可靠性。服务器端实现了移动机器人运动控制、传感器信息采集,串口通信等模块程序,客户端提供了良好的人机交互界面,并且对整个系统进行了实验,实验结果表明所选取的控制策略可行。更多还原

【Abstract】 With the development of robotic and network technology, network teleoperation robot has been given serious attention. It has been used in dangerous environment for remote operation, space exploration, tele-medicine and remote education and so on. There are broad application prospects on teleoperation robots. Network teleoperation robot system is studied based on intelligent cruise detection of a mobile robot for detection gas in Shanghai Chemical Area. In this paper, a networked control system for mobile robot based on the C/S mode is implemented. This main work of this paper is as following.Firstly, the whole architecture and each function module is introduced. Based on the analysis of motion of the mobile robot, a difference wheel driver kinematics mode is established. Considering that the time delay of network transmission is the major factor which affect the stability of the remote control, a solution of different time-delay using different control methods has been proposed based on the test and analysis of time-delay.Secondly, in order to obtain visual images of robot, VFW(Video for Windows) is used to capture the video image. To deal with the problems of large amount of video data and real-time requirement,H.263 video image compression standard is adopted to compress the image. Considering different types of data need different transmission requirements, socket program based on UDP protocol transfers the control instructions and socket program based on TCP protocol transfers the image data. The problems of lost package and package out-of-order have been solved with using addition the header package.Lastly, network communications between server and client are implemented based on VC++. In order to enhance the reliability of the system, a multithreading mechanism is established. Server has implemented the program of mobile robot motion control module, sensor information collection module and serial communication module. Client provides a good interactive interface. The whole system has been tested through the experiments and the experimental results have showed that the expected scheme is feasible.更多还原