网络遥操作机器人系统的研究
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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。
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.
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。
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.
引文
1 Li Yingying, Fan Weihong, Liu Yunhui, Cai Xuanping. Teleoperation of robot via the mobile communication networks. IEEE International Conference on Robotics and Biomimetics(ROBIO), Hong Kong, 2005. Inst. of Elec. and Elec. Eng. Computer Society, 2005: 670~675
2 John J. Craig.机器人学导论.机载工业出版社.2006:21~30
3王耀南.机器人智能控制工程.科学出版社.2004:2~5
4 Saucy P, Mondada F. Open access to a mobile robot on the Internet. IEEE Robotics&Automation Magazine.2000,7:41-47
5 A. Benali, V. Idasiak, J. G.. Fontaine. Remote robot teleoperation via Internet. A first approach. Robot and human communication, Proceedings of the IEEE International Workshop, 2001:306~312
6史胜利.基于Internet的机器人遥操作系统关键技术研究.哈尔滨工程大学博士学位论文.2004:2~5
7 Meng wang, James N.K.liu. Interactive control for internet-based mobile robot teleoperation. Robotics and autonomous systems. 2005,52(2):160~179
8 Keiichi Kemmotsu, Yoshihiro Koketsu, Masato Iehara. Network robot systems. Robotics and autonomous systems. 2008,56(10):857~864
9 Goldberg K, Chen B,Solomon R, Collaborative teleoperation via the Internet. Proceedings of the IEEE International Conference on Robotics and Automation. San Francisco, 2000. Piscataway, IEEE, 2000:19~24
10 Goldberg K. A feasibility study for internet robots. Proceedings of the IEEE Robotics and Automation magazine. 2000,48(5) :35~44
11 Shen Y T, Lo W T, Liu Y H. Haptic feedback in teleoperation of multifingered Robot hands. Intelligent Automation and Soft Computing. 2003,9(2):1~12
12 Milgram P, Ballantyne J. Real world teleoperation via virtual environment modeling. Proceedings of International Conference on Artificial Reality and Telexistence,1997.:1~9
13 Saucy P, Mondada F. Open access to a mobile robot on the Internet IEEE Robotics and Automation Magazine, 2000,7(l):41~47
14陆璐,施伯乐.基于Web的远程机器人控制系统的研究.机器人.2001,(2): 40~57
15李莹莹,云辉,樊玮虹.基于移动通信网络的机器人遥操作.通信学报.2006,2(5):52~59
16汤亚锋,韦庆非.完整移动机器人的反步跟踪控制方法.计算机仿真.2007,24(7):68
17常丛丛,纪志成.基于自适应反步法的轮式移动机器人跟踪控制.计算机仿真.2007,24(7):71
18赵瑜.基于计算机视觉的移动机器人路径识别与跟踪.西北大学硕士论文2008:40~42
19刘玲.基于智能计算的移动机器人路径规划方法研究.湖南大学硕士论文.2007:28~30
20 Kaneko, Shin-Ichiro. Online remote control of humanoid robot using a teleoperation system and user interface. WSEAS Transactions on Systems.2005:561~568
21叶树红,高志红.网络编程实用教程.人民邮电出版社.2006:17~35
22 Zhang Junping,Zhu Xiaodong,Liang Xin. C/S and B/S Mixed Style and the Application. Education Technology and Computer Science. 2009,2:682~686
23王克敏.移动机器人网络控制系统的研究与实现.浙江工业大学硕士论文.2008:10~12
24 Matías García-Rivera, Antonio Barreiro. Analysis of networked control systems with drops and variable delays. Automatica. 2007,43(12): 2054-2059
25 Liu, P.X., Meng, M.Q., Gu, J.J., Yang, S.X. A study of internet delays for robot teleoperation using biologically inspired approaches. International journal of robotics and automation. 2002,17(4):186~195
26 Juanping, Zhao, Xianwen, Gao. Time-delay analysis and estimation of internet-based robot teleoperation system. Chinese control and decision conference, Guilin, 2009. IEEE Computer Society, 2009:4643~4646
27王庆鹏,谈大龙,陈宁.基于Internet的机器人控制中网络时延测试及分析.机器人.2001,23(4):316~322
28过晓冰,伍卫国,刘敏,钱德沛.网络传输时延的测量方法.计算机应用研究.2002,(7):19~22
29孙启湲.基于互联网的移动机器人网络控制系统研究.天津大学博士论文.2004
30李众,贺汉根.应用遥编程的大时延遥操作技术.机器人.2001,(5):391~396
31 Chen Qihong, Fei Shumin, Song Aiguo. Predictive control of teleoperation robot systems. Journal of southeast university (Natural Science Edition). 2003, 33(2):177~181
32庄严,王伟,恽为民.基于网络的机器人控制技术研究现状与发展.机器人,2002(3):276~282
33 Shihua Wang, BugongXu, YunyiJia. Real-Time mobile robot teleoperation over IP networks based on predictive control. control and automation, IEEE international conference, 2007:2091~2096
34张理慧,张宇,陈文滨.基于DirectShow的视频捕获.计算机工程.2004,30(9):131~133
35石迎波.无线信道中的视频编码与传输技术研究.西安电子科技大学博士论文2007:3~10
36 L.Bnerc, W.Fenner. RFC2035-RTP Payload Format for JPEG-compressed Pressed Video, 1996
37 C.Zhu. RFC2190-RTP Payload Format for H.263 Video Streams, 1997
38 S.Gringeri, S.Khasnabish, ect. Transmission of MPEG-2 Video Streams over ATM, IEEE MultiMedia,1998:58~78
39丁贵广,计文平,郭宝龙.Visual C++ 6.0数字图像编码.机械工业出版社.2004:188~206
40 Georgios Akrivas et al. MPEG-4 Authoring Tool Using Moving object Segmentation and Tracking in Video Shots Petros Daras,EURASIP Journal on Applied Signal Processing 2003:9,l~18
41汪地.机器人远程监控系统的研究.上海大学博士学位论文.2004:11-13
42侯敬巍.基于虚拟现实的遥操作工程机器人系统研究.吉林大学博士论文.2008:47~49
43罗军舟,黎波涛,杨明,吴俊,黄健.TCP/IP协议及网络编程技术.清华大学出版社.2004:80~81
2 John J. Craig.机器人学导论.机载工业出版社.2006:21~30
3王耀南.机器人智能控制工程.科学出版社.2004:2~5
4 Saucy P, Mondada F. Open access to a mobile robot on the Internet. IEEE Robotics&Automation Magazine.2000,7:41-47
5 A. Benali, V. Idasiak, J. G.. Fontaine. Remote robot teleoperation via Internet. A first approach. Robot and human communication, Proceedings of the IEEE International Workshop, 2001:306~312
6史胜利.基于Internet的机器人遥操作系统关键技术研究.哈尔滨工程大学博士学位论文.2004:2~5
7 Meng wang, James N.K.liu. Interactive control for internet-based mobile robot teleoperation. Robotics and autonomous systems. 2005,52(2):160~179
8 Keiichi Kemmotsu, Yoshihiro Koketsu, Masato Iehara. Network robot systems. Robotics and autonomous systems. 2008,56(10):857~864
9 Goldberg K, Chen B,Solomon R, Collaborative teleoperation via the Internet. Proceedings of the IEEE International Conference on Robotics and Automation. San Francisco, 2000. Piscataway, IEEE, 2000:19~24
10 Goldberg K. A feasibility study for internet robots. Proceedings of the IEEE Robotics and Automation magazine. 2000,48(5) :35~44
11 Shen Y T, Lo W T, Liu Y H. Haptic feedback in teleoperation of multifingered Robot hands. Intelligent Automation and Soft Computing. 2003,9(2):1~12
12 Milgram P, Ballantyne J. Real world teleoperation via virtual environment modeling. Proceedings of International Conference on Artificial Reality and Telexistence,1997.:1~9
13 Saucy P, Mondada F. Open access to a mobile robot on the Internet IEEE Robotics and Automation Magazine, 2000,7(l):41~47
14陆璐,施伯乐.基于Web的远程机器人控制系统的研究.机器人.2001,(2): 40~57
15李莹莹,云辉,樊玮虹.基于移动通信网络的机器人遥操作.通信学报.2006,2(5):52~59
16汤亚锋,韦庆非.完整移动机器人的反步跟踪控制方法.计算机仿真.2007,24(7):68
17常丛丛,纪志成.基于自适应反步法的轮式移动机器人跟踪控制.计算机仿真.2007,24(7):71
18赵瑜.基于计算机视觉的移动机器人路径识别与跟踪.西北大学硕士论文2008:40~42
19刘玲.基于智能计算的移动机器人路径规划方法研究.湖南大学硕士论文.2007:28~30
20 Kaneko, Shin-Ichiro. Online remote control of humanoid robot using a teleoperation system and user interface. WSEAS Transactions on Systems.2005:561~568
21叶树红,高志红.网络编程实用教程.人民邮电出版社.2006:17~35
22 Zhang Junping,Zhu Xiaodong,Liang Xin. C/S and B/S Mixed Style and the Application. Education Technology and Computer Science. 2009,2:682~686
23王克敏.移动机器人网络控制系统的研究与实现.浙江工业大学硕士论文.2008:10~12
24 Matías García-Rivera, Antonio Barreiro. Analysis of networked control systems with drops and variable delays. Automatica. 2007,43(12): 2054-2059
25 Liu, P.X., Meng, M.Q., Gu, J.J., Yang, S.X. A study of internet delays for robot teleoperation using biologically inspired approaches. International journal of robotics and automation. 2002,17(4):186~195
26 Juanping, Zhao, Xianwen, Gao. Time-delay analysis and estimation of internet-based robot teleoperation system. Chinese control and decision conference, Guilin, 2009. IEEE Computer Society, 2009:4643~4646
27王庆鹏,谈大龙,陈宁.基于Internet的机器人控制中网络时延测试及分析.机器人.2001,23(4):316~322
28过晓冰,伍卫国,刘敏,钱德沛.网络传输时延的测量方法.计算机应用研究.2002,(7):19~22
29孙启湲.基于互联网的移动机器人网络控制系统研究.天津大学博士论文.2004
30李众,贺汉根.应用遥编程的大时延遥操作技术.机器人.2001,(5):391~396
31 Chen Qihong, Fei Shumin, Song Aiguo. Predictive control of teleoperation robot systems. Journal of southeast university (Natural Science Edition). 2003, 33(2):177~181
32庄严,王伟,恽为民.基于网络的机器人控制技术研究现状与发展.机器人,2002(3):276~282
33 Shihua Wang, BugongXu, YunyiJia. Real-Time mobile robot teleoperation over IP networks based on predictive control. control and automation, IEEE international conference, 2007:2091~2096
34张理慧,张宇,陈文滨.基于DirectShow的视频捕获.计算机工程.2004,30(9):131~133
35石迎波.无线信道中的视频编码与传输技术研究.西安电子科技大学博士论文2007:3~10
36 L.Bnerc, W.Fenner. RFC2035-RTP Payload Format for JPEG-compressed Pressed Video, 1996
37 C.Zhu. RFC2190-RTP Payload Format for H.263 Video Streams, 1997
38 S.Gringeri, S.Khasnabish, ect. Transmission of MPEG-2 Video Streams over ATM, IEEE MultiMedia,1998:58~78
39丁贵广,计文平,郭宝龙.Visual C++ 6.0数字图像编码.机械工业出版社.2004:188~206
40 Georgios Akrivas et al. MPEG-4 Authoring Tool Using Moving object Segmentation and Tracking in Video Shots Petros Daras,EURASIP Journal on Applied Signal Processing 2003:9,l~18
41汪地.机器人远程监控系统的研究.上海大学博士学位论文.2004:11-13
42侯敬巍.基于虚拟现实的遥操作工程机器人系统研究.吉林大学博士论文.2008:47~49
43罗军舟,黎波涛,杨明,吴俊,黄健.TCP/IP协议及网络编程技术.清华大学出版社.2004:80~81
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