多信息感知辅助的网络遥操作机器人系统

构建了多信息感知辅助的网络遥操作机器人系统，该系统提供了一种通过多信息感知手段辅助操作者决策的远程控制方式．首先，分析了网络条件下遥操作机器人系统多信息感知的原理．该多信息包括机器人多传感器和网络返程时延等信息．通过对这些多信息的预处理、分类和决策处理，将该多信息以视觉、听觉、力觉、报警灯和交互文本方式转化为人可感知的信息．使用网络时延缓冲器和网络双连接，降低了网络可变时延对系统的影响．最后，长距离的网络遥操作实验验证了系统和控制策略的实用性和有效性．

Multi-information Perception Aided Teleoperated Robot System over Internet

With the help of multi-infnrmation perception, a teleoperated robot system over Internet is proposed, which provides a tele-eontrol nlode through multi-information perception aided deeision-lnaking. First, the principle of multi-intormation perception in Internet-based teleoperated robot system is analyzed, and the multi-information includes data of robot sensors, network back delay, etc. After the multi-information is pre-proeessed and classified and the deeisinn-making is done, the multi-informaltion can be perceived by the operator with such modes as vision, audio, force, alarm box and interactive text. The use of network delay buffer and double data links decreases the impact from variable network delay. Finally, the usefulness and effectiveness of the developed schemes and system are validated by teleoperation experiments through Internet over long distance.