一种跨平台多通道人机交互控制系统设计

摘要

针对一种核环境移动机器人控制的特殊需求,在分析了ROS系统架构后,提出了ROS机器人应用程序的基本架构,基于此架构设计了基于Linux和Windows系统跨平台多通道遥操作交互控制系统.实现了对机器人作业机械臂带力反馈的主从控制,对移动底盘的自主控制、手动控制、语音控制.详细说明了交互系统的设计实现过程.通过对客户端系统机器人交互模型的正确性和服务器端系统正确性进行了仿真验证,最后通过综合实验证明整个交互系统的正确性和友好性,结果表明操作者可通过本地渲染的虚拟场景和远端机器人反馈的多路视频信息和机器人本体的状态信息对机器人工作状态做出正确判断和新的规划,很好地完成作业任务.%In consideration of the special requirements of controlling the mobile robot working in nuclear environment,after analyzed the architecture of ROS and coming up with the structure of robot application of ROS,we designed a Multimodal human-computer interaction system which was cross-platform for the mobile robot.We achieved the success of the master-slave control along with feedback force for the working manipulator,the success of the multimodal control,such as autonomous control、manual control、voice control,for the mobile base.First we described the development of this control system on detail,then we tested the correctness of the robot model in ROS of client and the program of server,finally we verified the correctness and friendliness of the whole interface system.The results showed that the operator can make wise decision and new plan to finish the work excellently through the virtual sense and the video retrieving from the working sense of the remote robot along with the internal status information itself.