| With the social development and technological progress, the applications of service robots get more attention than ever before. Due to the limitations of technologies such as robot environmental perception, navigation and positioning, the service robots have not actually used in reality. As the combination of information, intelligence, understanding and decision-making control, the intelligent space technology provides a good ecological space for robot to understand and implement tasks, and interact with people. Therefore, combining service robotics technology with intelligent space technology together is an important tool to solve this problem.This subject originates from a National High Technology Research and Development Program named Intelligent Space Technology and Robot Inspection System for Patients Wards Inspection. Based on the hospital wards inspection, a hospital wards inspection system for robot based on intelligent space is established in this program. As an important part of intelligent space, communication network undertakes many types of heterogeneous information transmission in intelligent hosptial space, and requires different types of network technology to be achieved. This thesis will use wireless network technology to build a heterogeneous network for intelligent hosptial space. The main contributions of this thesis are shown as follows:Firstly, after indentifing the specific needs of the hospital communication network, a new heterogeneous network model of intelligent space is put forward. This model is constructed by the IEEE 802.11n technology, ZigBee technology and GPRS/GSM technology. Then, the specific roles of these three networks are introduced in intelligent hospital space.Secondly, according to the basic principles of heterogeneous network construction, various types of network equipment are chosen or built to describe the specific layout and settings of heterogeneous network in detail. Then the thesis makes the necessary testing of heterogeneous network. The experimental results show that the heterogeneous network can cover the entire experimental area seamlessly, which can meet the functional and performance requirements of the project.Thirdly, assume the PC in the nurse station as the server, and the service robot of independent development as the clinet, the thesis studies the transmission technology of control commands, sensor data, feedback commands, video image data, and manual control technology, etc, basing on the heterogeneous network. Among them, the thesis focuses on the work of video image transmission. Video transmission uses the advanced H.264 video codec technology and RTP/RTCP Real-time Transport Protocol, making the compression ratio up to 100:1 and the transmission rate up to 25 frames/second, this fully meets the requirements of real-time and continuity for monitoring video images.Finally, after the combination of functional software module coding and integration, the thesis realizes the monitoring software system of the heterogeneous network for hospital inspection robot based on C/S structure. Then, the thesis designs the delay testing for the entire monitoring software system, and highlights the advantage of parallel video transmissions. The experiment results show that the control commands, status information feedback and other small amount of data information transmission have rarely no delay, and the video of monitoring side is clear and smooth, delay can be controlled within 0.4 second. A large number of experiments show that the heterogeneous network of intelligent hospital space and its software system can fully meet the requirements of the project. |
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