摘要
室外移动机器人的遥控系统由移动指挥站、移动机器人站、无线通信系统组成.在临场感遥控系统中,需要将移动机器人站摄像头得到的图像经过发射机和天线传送给移动指挥站.为了使得图像的接收效果更好,使用定向天线增强天线增益.定向天线只有在某一个方向上增益最强,定向发送天线固定在该云台上,根据位置和角度信息控制云台转动使得接收天线始终对准目标点.为了增强定向天线的接收效果,设计了自动对中天线云台系统和遥控器.
This paper presents the design and implementation of teleoperation system for the mobile robot. It contains mobile command station, mobile robot station and wireless communication system. we need to transfer the image in the telepresence-remote control system, which is captured by the cam- era of the motion robot, to the base or target point by transmitter and antenna. On the motion robot vehicle, we use directional antenna to enhance the gain of the antenna. The directional antenna has the largest gain only on a specific direction. But the motion robot is moving unceasingly. A servosystem is designed in order to control the motion of the platform. The directional antenna is installed on the platform and the platform can rotate according to the position and angle information so that the antenna can always aim at the base or target point.
出处
《北京工商大学学报（自然科学版）》
CAS
2009年第4期25-28,共4页
Journal of Beijing Technology and Business University:Natural Science Edition
关键词
移动机器人
遥控
力反馈
天线云台
mobile robot
teleoperation
force feedback
antenna turntable
