Research On Network Teleoperating Robot System

With the development of robotic and network technology, network teleoperation robot has been given serious attention. It has been used in dangerous environment for remote operation, space exploration, tele-medicine and remote education and so on. There are broad application prospects on teleoperation robots. Network teleoperation robot system is studied based on intelligent cruise detection of a mobile robot for detection gas in Shanghai Chemical Area. In this paper, a networked control system for mobile robot based on the C/S mode is implemented. This main work of this paper is as following.Firstly, the whole architecture and each function module is introduced. Based on the analysis of motion of the mobile robot, a difference wheel driver kinematics mode is established. Considering that the time delay of network transmission is the major factor which affect the stability of the remote control, a solution of different time-delay using different control methods has been proposed based on the test and analysis of time-delay.Secondly, in order to obtain visual images of robot, VFW(Video for Windows) is used to capture the video image. To deal with the problems of large amount of video data and real-time requirement,H.263 video image compression standard is adopted to compress the image. Considering different types of data need different transmission requirements, socket program based on UDP protocol transfers the control instructions and socket program based on TCP protocol transfers the image data. The problems of lost package and package out-of-order have been solved with using addition the header package.Lastly, network communications between server and client are implemented based on VC++. In order to enhance the reliability of the system, a multithreading mechanism is established. Server has implemented the program of mobile robot motion control module, sensor information collection module and serial communication module. Client provides a good interactive interface. The whole system has been tested through the experiments and the experimental results have showed that the expected scheme is feasible.