摘要
针对排爆作业的安全性、稳定性和实时性的要求,设计了一套基于以太网的排爆机器人测控系统。该系统由排爆机器人和遥操作控制器组成,排爆机器人作为服务器,遥操作控制器作为客户端,两者之间通过长距离增强型网线实现以太网通信。客户端对服务器进行请求控制,服务器向客户端提供视频、激光雷达点云数据和其他多种传感器信息,为操作人员提供了重要的环境感知信息。该系统能够准确、实时地完成排爆作业,具有较好的稳定性和可靠性。
To meet the requirements of safety, stability and real-time for the assignment of explosive ordnance disposal（EOD）, a set of EOD robot measurement and control system based on Ethernet is designed. The system consists of EOD robots and teleoperation controller. The EOD robot serves as the server, the teleoperation controller serves as the client, and Ethernet communication between them is achieved by using the long distance enhanced network cable. The client performs request control on the server, and the server provides the client with video, laser radar point cloud data, and a variety of other sensor information, which can provid the operator with important environment-aware information. The system can complete EOD operation accurately and in real-time with good stability and reliability.
作者
李欢欢
宋爱国
李会军
魏宏明
丁天华
LI Huan-huan;SONG Ai-guo;LI Hui-jun;WEI Hong-ming;DING Tian-hua(School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China)
出处
《测控技术》
CSCD
2018年第7期5-8,共4页
Measurement & Control Technology
关键词
以太网
排爆机器人
测控系统
多传感器
Ethernet
EOD robot
measurment and control system
multi-sensor
