嵌入式系统中机器人操作系统(ROS)多机通信图像传输效率改善的研究  

Research on Improving the Efficiency of Multi-Machine Image Transmission and Communication for Robot Operating System(ROS)in Embedded Systems

作　　者：涂虬[1] 赵磊 王锋 周梓发 TU Qiu;ZHAO Lei;WANG Feng;ZHOU Zifa(School of Digital Technology Application Industry,Engineering Technology Research Center of Intelligent Electric Vehicle Parts&Components of Jiangxi Province,Shangrao Normal University,Shangrao Jiangxi 334001,China)

机构地区：[1]上饶师范学院数字技术应用产业学院江西省电动汽车部件智能化工程技术研究中心,江西上饶334001

出　　处：《上饶师范学院学报》2023年第6期20-27,共8页Journal of Shangrao Normal University

基　　金：江西省教育厅科技项目(GJJ14711)。

摘　　要：在传统的嵌入式系统中,由于计算资源有限,通信和图像传输的效率时常受到限制,导致图像检测的准确性和实时性有所降低。为了解决这一问题,一种改善机器人操作系统(robot operating system,ROS)多机通信图像传输的方法被提出。首先,利用ROS中的多机通信功能作为多机通讯的方法,实现机器人系统的分布式计算和通信;其次,调用跨平台计算机视觉库(OpenCV库)函数中的联合图像专家小组(joint photographic experts group,JPEG)图像压缩功能来提高图像传输的速率;最后,引用CvBridge(将ROS图像消息和OpenCV图像连接起来的桥梁)库将ROS压缩图像消息进行解压缩并发布解压缩后的节点,实现图像传输。通过JPEG图像压缩可以减小图像数据的大小,从而降低了图像传输时的带宽占用和延迟。提出的方法有助于提升ROS在有限计算资源下的性能,使其在多机环境中更为高效和可靠。In traditional embedded systems,due to limitations in computing resources,the efficiency of communication and image transmission is often limited,resulting in a decrease in detection accuracy and real-time performance.In order to solve this problem,a method for improving image transmission in multi-machine communication of robot operating system(ROS)has been proposed.Firstly,utilizing the multi-machine communication function in ROS was used as a method of multi-machine communication to achieve distributed computing and communication in robot systems;Secondly,calling the joint photographic experts group(JPEG)image compression function in the cross platform machine vision library(OpenCV library)function could improve image transmission speed;Finally,the CvBridge(a bridge that connects ROS image messages with OpenCV images)library was used to decompress ROS compressed image messages and published the decompressed nodes to achieve image transmission.JPEG image compression could reduce the size of image data,thereby reducing bandwidth consumption and latency during image transmission.The proposed method helps to improve the performance of ROS under limited computing resources,making it more efficient and reliable in multi-machine environments.

关 键 词：嵌入式系统 机器人操作系统(ROS) 多机通信 图像传输 OpenCV 效率改善 

分 类 号：TN919.8[电子电信—通信与信息系统]