面向医院病房巡视的机器人图像采集与传输系统

山东大学学报(工学版) ›› 2012, Vol. 42 ›› Issue (1): 51-58.

面向医院病房巡视的机器人图像采集与传输系统

张凯,田国会*,周风余,宋保业

山东大学控制科学与工程学院, 山东济南 250061

收稿日期:2011-09-04 出版日期:2012-02-20 发布日期:2011-09-04
通讯作者: 田国会(1969- ),男,河北河间人,教授,博士,博士生导师,主要研究方向为服务机器人,智能空间,多机器人协同协作通讯等. Email:g.h.tian@sdu.edu.c E-mail:g.h.tian@sdu.edu.c
作者简介:张凯(1987- ),男,山东聊城人,硕士研究生,主要研究方向为智能空间,图像传输.Email:kkkaai105@mail.sdu.edu.cn
基金资助:
国家高技术研究发展计划(863计划)资助项目(2009AA04Z220);国家自然科学基金资助项目(61075092)

Image acquisition and transmission system for a hospital inspection robot

ZHANG Kai, TIAN Guo-hui*, ZHOU Feng-yu, SONG Bao-ye

School of Control Science and Engineering, Shandong University, Jinan 250061, China

Received:2011-09-04 Online:2012-02-20 Published:2011-09-04

摘要/Abstract

摘要：

针对医院病房巡视机器人对图像信息采集及传输的要求,设计并实现了一种基于无线局域网的图像采集及传输系统。为了降低机器人的计算负担,提出了一种嵌入式设备与工控机相结合的方法,嵌入式设备负责图像采集、压缩,工控机负责图像传输。采用JPEG图像压缩算法,有效地减少了网络带宽的使用。设计了一种基于UDP的网络通讯协议,使图像在无线局域网中快速、稳定的传输。利用多线程技术,改进并行传输图像的方式,提高了图像传输的实时性。实验结果表明:该系统工作稳定、实时性好,能够满足巡视机器人病房巡视过程中图像信息的采集和传输的任务要求。

关键词: 病房, 巡视机器人, TMS320DM642, 图像采集, 图像压缩, 实时传输

Abstract:

To meet the requirements of a hospital inspection robot for image collection and transmission, an image acquisition and transmission system based on WLAN was designed and developed. A method of combining an embedded device and industrial control computer was proposed to decrease the calculation burden of a robot. The embedded device was responsible for image acquisition and compression, and the industrial control computer completed transmission. The occupancy ratio of the network bandwidth was effectively reduced by applying the algorithm of JPEG. A communication protocol based on UDP was designed. It made image transmission quick and steady in the WLAN. The improved parallel transmission increased the real-time ability by applying multithreading technology. Experiments demonstrated that the system of image capture and transmission for the hospital inspection robot had high stability and real-time ability, which could complete the task of capturing the image of the environment and transmission when the hospital inspection robot visited wards.

Key words: hospital, inspection robot, TMS320DM642, image acquisition, image compression, real-time transmission

张凯,田国会*,周风余,宋保业. 面向医院病房巡视的机器人图像采集与传输系统[J]. 山东大学学报(工学版), 2012, 42(1): 51-58.

ZHANG Kai, TIAN Guo-hui*, ZHOU Feng-yu, SONG Bao-ye. Image acquisition and transmission system for a hospital inspection robot[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2012, 42(1): 51-58.

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