【作者】 史胜利；

【导师】 孟庆鑫；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2004， 博士

【摘要】 随着人们对太空、深海等的探索,研究遥控机器人越来越显得意义重大。随着网络建设的不断加速和新技术的不断进步,借助于internet资源的诸多便利条件,对网络遥操作机器人的需求必然日趋扩大,如太空、深海、危险环境救援、科研、娱乐、教育等诸多方面。事实上,多种遥操作机器人已经应用在了诸如深海作业、遥操作机器人手术等场合。本文在研究现有网络机器人遥操作系统学术成果的基础上,详细分析了基于internet机器人遥操作系统的多个关键技术问题,如机器人临场感、internet网络和图像压缩等。 由于internet网络导致的多种问题,如网络时延、数据可靠性等,使得基于internet的机器人遥操作系统的研究更具挑战性,因为网络时延的存在,直接影响了具备临场感的遥操作系统的可操作性甚至稳定性。为此针对时延的影响,考虑到基于事件的遥操作控制中等待时间长的缺点,本文提出了一种优化方法,即在遥操作者一端把时延预测用于事件控制,而在遥操作机器人一侧采用了缓冲队列机制,从而有效地安排和保证顺序事件的执行。 针对机器人图像中大数据量问题,本文提出了把机器人对象重点分割进行编码和传输的方法,运用投影方法和机器人运动学原理,能够快速实现机器人对象的有效提取和编码。对于多个摄像机采集机器人图像的应用中,本文提出了并行处理和传输机器人多幅图像的方法,使得图像信息更加丰富、多个方向视角的机器人图像的编码和传输成为比较可行的方法。同时,本文在提出采用双园环法快速标定摄像机的基础上,实现了通过机器人图像位置来作为遥操作位置点,从而准确、方便、快捷地进行遥操作控制。 另外,本文还进行了其它部分的系统设计工作,包括设计出一个实用的机器人遥操作系统,搭建了遥操作系统的平台;搭建了internet网络仿真平台,以便进行相关测试;实现了WEB服务器、机器人服务器、客户端部分的软件设计等。更多还原

【Abstract】 With the exploration of space and deep sea and so on, teleoperation research becomes more important than ever before. With the progress of building network acceleration and new technology, with the help of convenience of internet, the research of robot teleoperation is getting much more essential. Meanwhile, kinds of teleoperaton robotics have been used in many area like working in deep sea, tele-medicine and so on. Anymore, with the application requirement increment of the internet-based teleoperation, such as space exploration, hazardous environment working, researches, entertainment and education. Based on the research harvest of current teleoperatoin technique, mainly key technologies are discussed, such as bilateral, internet properties and image compress and transportation.Facing problems led by the internet network, such as time-delay, data safety, the research of internet-based teleoperation is a challenged one because of the network latency, and the operation ability of bilateral teleoperation is affected, even to the system stability. Thus a new optimization of event-based control model is presented for the time-delay problem, considering the defect of waiting in the traditional event-based teleoperation, the paper presents the simulated force to feedback to the teleoperator directly and the buffer sequence mechanism is accepted at telerobot side, and the command execution in sequence event is ensured.To the great of large data problem of robotic graphics, a new technique of partition coding and transportation for the robot object is presented, which using projection method and kinematical principle to implement the quickly partition and coding of the robot object. In the application using multi-cameras, a parallel dealing and transportation method is discussed, which leading to rich graphics information and more angles to control the robot. Anymore, the teleoperator can control the remote robot by dotting the mouse in the screen graphic to teleoperate the remote robot or manipulator, which is accurate and easy to use.In the end, more works have been done for the teleoperation system design ,including implementing the useful teleoperation system, building up the platform of the teleoperation system, the simulation platform and corresponding tests. Software for WEB server, robot server and the client interface are implemented too.更多还原