基于互联网的移动机器人遥操作系统设计与实现  

Design and Realization of Internet Based Teleoperation System of Mobile Robot

作　　者：田波[1] 陈建平[2] 付根平[3] 

机构地区：[1]铜仁学院数学与计算机科学系,贵州铜仁554300 [2]肇庆学院计算机学院,广东肇庆526061 [3]广东工业大学自动化学院,广州510090

出　　处：《计算机测量与控制》2013年第5期1269-1272,共4页Computer Measurement &Control

基　　金：广东省自然科学基金自由申请项目(S2011010004006)

摘　　要：为提高基于互联网的遥操作移动机器人系统的透明性和稳定性,文章设计并实现了一种基于互联网的遥操作移动机器人系统;针对机器人单个声呐测距精度低的不足,采用双声呐融合算法完成对近距障碍物的精确测距,便于操作者能够精确地调整机器人位姿;在视频反馈中使用双目视觉获取机器人目视范围内的深度信息,有效完成了机器人周边环境的感知与识别;基于云计算实现了反馈数据的处理与存储,为遥操作系统提供了一个具有高扩展性的计算与存储平台;在NAO机器人平台上进行的遥操作实验表明,与传统的基于视觉和力反馈的遥操作系统相比,完成同样的操作任务,该系统操作时间减少了30%,并具备更高的位姿调整和定位精度。An Internet based teleoperation system of mobile robot was designed and implemented to improve the transparency and stabili- ty. As the low ranging accuracy of single sonar, data amalgamation algorithm for double sonar was used to complete the precise range of close obstacle, so the operator could adjust the robot pose accurately. The depth information of vision feedback was maintained with binocular vision and the surroundings information was gained effectively. Data of feedback were processed on the cloud computing environments, which provide a highly scalable computing and storage platform for teleoperation system. NAO robot teleoperation experiment verified that compare to the vision and force feedback based teleoperation system, the system operating time is reduced by 30% and improved pose adjustment and positioning accuracy when accomplish the same task.

关 键 词：互联网 遥操作 云计算 移动机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]