【作者】 樊荣；

【导师】 孙汉旭； 贾庆轩；

【作者基本信息】 北京邮电大学 ， 检测技术与自动化装置， 2009， 硕士

【摘要】 移动机器人,特别是在危险环境中进行作业的机器人,一般都通过远程控制的方式完成指定的工作任务,而视频监控以其反馈信息的直观性和丰富性在移动机器人远程控制中占据着重要的地位。现有的移动机器人一般采用图传模块和数传模块从两个独立的信道分别传输视频和控制及状态数据,由于以低频无线电波作为传输介质,信号易受到干扰,而且图传模块功耗大,传输距离较短,整个系统也不具备任何数据安全性措施,若要加密,则需要两套专用的加密设备,使得系统复杂、昂贵且不灵活,因此现有的移动机器人通信模式难以应用于对通信距离和数据安全性等方面有特殊要求的应用场合。基于这些特殊的应用需求,本论文对移动机器人的远距离视频监控及安全传输系统进行了探索性的研究,提出了一种全新的基于数字监控的移动机器人通信模式,采用无线局域网传输图像和数据信息,代替了传统移动机器人基于图传和数传模块的通信模式。首先设计并实现了一种实时性较高的移动机器人数字视频监控系统,包括视频采集压缩模块的选型、基于Linux内核的驱动程序和应用程序的开发、流媒体服务器的搭建和视频播放界面的设计;其次通过分析基于无线局域网的移动机器人系统所存在的安全隐患,有针对性地设计一种以OpenVPN为主的多层安全防护结构,并将该结构引入到移动机器人的远程监控系统中。文章最后对视频系统的实时性和安全性进行了测试。测试结果表明,视频系统工作正常,图像清晰且时延稳定(约为300毫秒),起到了很好的辅助探测和导航作用;然后对系统进行了各种可能的攻击试验,结果证明所设计的安全体系结构达到了安全性要求。整个系统具有开放的结构,易于根据不同的需求进行扩展,因而本论文的研究内容具有重要的实际应用价值。更多还原

【Abstract】 Mobile robots which are used for dangerous environment like military reconnaissance and bomb disposal usually complete the assigned tasks through remote control. Video monitoring takes an important position in the remote control of mobile robot just because of its rich content and visible information.In tradition, mobile robots use two independent channel to transmit video and data, but the video transmission module has high power and short transmission distance. Besides, the whole system does not have any security measures, so we have to use two encryption device to emprove the problem, which make the system more complicated, expensive and inflexible. Thus the traditional communication scheme for mobile robot is difficult to meet some special application requirements, such as the communication distance and data security requirements.This paper did exploratory research on system of remote video monitoring and security transmission for mobile robot. A new communication scheme for mobile robot based on digital video monitoring system was proposed according to special application needs. In this scheme, video and data were transmitted by WLAN, instead of traditional scheme which using two independent channel to transmit video and data.Firstly, a kind of real-time digital video monitoring system has be designed and realized, including video compression module selection, driver programming, application implementation for the video compression based on the Linux kernel, and GUI design for video playing. Besides, a streaming media server has been set up for video data transmission.Secondly, this paper presented the risk existed in the mobile robot system under WLAN, and proposed multi-layer security architecture based on OpenVPN, then applied it into remote monitoring system of the mobile robot.At the end of this paper, security and time delay of the video system were tested. The video system worked normally and time delay was acceptable. It could be used as a detector and navigator.Besides, attack test was also implemented, and the result proved that the security architecture worked well.The system has an open architecture,so it is easy to extend according to special application needs.The research in the paper has extensive application value.更多还原