基于互联网技术的远程机器人控制器设计

Design of Internet-based Telerobot Controller

采取利用互联网、IEEE802.11x无线局域网及移动电话网的方法,为轮式移动机器人设计具有视觉功能的远程无线控制器,实现远程无线控制轮式移动机器人的控制器软件、硬件的基本结构和设计方法。设计的两种嵌入式控制器分别在局域网和日本的3G无线移动电话网上进行了实验,在具有视觉功能的轮式移动机器人上实现了利用浏览器通过网络对轮式移动机器人进行远程无线操作控制,并在远程操作计算机上通过网络利用浏览器获取机器人实时视觉图像。

The remote wireless controller with vision function is designed for a wheeled mobile robot. The basic software and hardware structures and the design algorithms of the remote wireless control systems for the wheeled mobile robot （WMR） are presented by using Internet, the IEEE802.11x wireless LAN and the cell phone network. Two embedded control systems with LAN and the Japanese 3G cell phone network, respectively are successfully implemented for the Internet-based remote wireless control of the W＇MR. It is realized to operate the WMR equipped with a CCD camera, remotely and wirelessly by using a Web brower through Internet, and real-time image information acquired by the camera is transferred to the remote control computer through Intemet.