视频融合在遥操作机器人系统中的应用  

The application of video fusion in telerobot system

作　　者：李鑫[1] 尤波[1] 

机构地区：[1]哈尔滨理工大学智能机械研究所,黑龙江哈尔滨150080

出　　处：《微型机与应用》2010年第9期41-43,共3页Microcomputer & Its Applications

基　　金：黑龙江省自然科学基金项目;非结构环境下人机协作遥操作关键技术研究(F200808)

摘　　要：针对遥操作机器人系统中视频传输数据量大,造成的时延严重影响操作者决策,使机器人现场作业透明度不高引起误操作的问题,提出采用3DSMAX建立三维机器人仿真模型,在OPENGL编程环境下对其进行绘制及仿真控制,采用H.263标准及相应压缩算法把获取视频压缩、传输、解压、远端显示与仿真模型融合。实验证明,该方法不仅能实现控制命令准确传输、机器人实时控制,而且视频机器人跟踪仿真模型轨迹作业避免了误操作。According to the large volume of video transmission data in telerobot system, and its time delay seriously affects the decision of operators, which can lead to bad transparency of robot field operation and misoperation, a three-dimensional robot simulation model adopted 3DSMAX is built and it is drawn and simulated control in OPENGL programming environment. Using H. 263 standard and corresponding compression algorithm, the obtain of video compression, transmission, decompression, remote display and simulation model are combined. The experiments show that it can not only realize the accurate transmission of control commands and the real-time control of robot, but also avoid misoperation.

关 键 词：遥操作 机器人系统 视频融合 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]