网络机器人基于Internet视频传输
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摘要
网络机器人技术是传统机器人技术和网络技术相结合的一门新兴的开放式的分布式的机器人控制技术。由于目前机器人技术的发展情况，机器人还不可能完全自主地完成所有交付的任务。将人作为一个环节加入到机器人控制系统中，为机器人提供实时的关键性的指导，成为机器人技术研究领域中的热门课题。随着网络技术的迅猛发展，拓展了信息传输的领域，为控制人员与机器人之间信息交互提供了必要的途径，使得机器人基于网络的远程监控与远程操作的实现成为可能。视频信息是控制人员获得机器人工作状态的最有力途径，从机器人到控制人员之间的视频信息的实时传输成为关键课题。
本文主要目标为：针对网络机器人的具体实际情况，研究并实现适用于网络机器人与控制人员之间进行信息交互的视频实时传输方法。主要针对两方面问题展开研究，一是对适用于网络视频实时传输的视频编码、解码算法的研究与实现，二是对适用于网络视频实时传输的网络传输协议的研究与实现。
本文主要内容包括：第1章介绍网络机器人研究现状和发展趋势，及网络机器人系统的基本组成；第2章结合网络机器人的具体情况，分析视频的预处理方面问题，包括：视频采集，视频编码及视频解码等，提出相应的解决方案，为视频的网络传输提供条件；第3章、第4章介绍Internet使用最广泛的TCP／IP协议和套接口编程原理。介绍基于TCP／IP协议的实时传输协议(RTP)和实时传输控制协议(RTCP)，深入研究并探索基于实时传输协议(RTP)和实时传输控制协议(RTCP)之上的适用于网络机器人的视频实时传输的方法；第5章到第7章介绍与网络机器人视频传输技术相关的其它技术；第八8、9章按照以上章节提出的方法，通过编制应用成程序在Windows平台上实现网络机器人视频传输；笫10章分析实验结果并加以总结。
Network robotics is a new open distributed robot controlling technology combining classical robotics and network technology. Because of robotics development today, robot cannot automatically accomplish all tasks that human submit. Adding human in robot control system, providing key instruct, become a key technology. With network technology's rapid development, information transportation areas are expanding, providing method for exchanging information between controller and robot, remote monitoring and remote controlling of industry robot is not impossible. Video information is a best method that human can acquaint robot's status. The real-time video transport technology between human and robot become a very important technology.
This paper objective is researching and realizing network video real-time transport between controller and robot, including two aspects, one is the method of video encoding and video decoding applying network robotics, the other is network video real-time transport protocol.
This paper content includes: chapter 1 introduce the development of network robotics and the components of network robot system; chapter 2 discuss video pretreatment including video capturing video encoding and video decoding providing for network video real-time transporting; chapter 3 and chapter 4 introduce TCP/IP and programming method about socket, then real-time transport protocol (RTP) and real-time transport control protocol (RTCP) are discussed, basing on RTP and RTCP network video transporting method is put forward for network robot system; from chapter 5 to chapter 7 other technologies about network robotics are introduced and discussed; chapter 8 and chapter 9 on windows platform this method is implemented, application programming is workout, experiment is done and results is analyzed; chapter 10 summarize.
本文主要目标为：针对网络机器人的具体实际情况，研究并实现适用于网络机器人与控制人员之间进行信息交互的视频实时传输方法。主要针对两方面问题展开研究，一是对适用于网络视频实时传输的视频编码、解码算法的研究与实现，二是对适用于网络视频实时传输的网络传输协议的研究与实现。
本文主要内容包括：第1章介绍网络机器人研究现状和发展趋势，及网络机器人系统的基本组成；第2章结合网络机器人的具体情况，分析视频的预处理方面问题，包括：视频采集，视频编码及视频解码等，提出相应的解决方案，为视频的网络传输提供条件；第3章、第4章介绍Internet使用最广泛的TCP／IP协议和套接口编程原理。介绍基于TCP／IP协议的实时传输协议(RTP)和实时传输控制协议(RTCP)，深入研究并探索基于实时传输协议(RTP)和实时传输控制协议(RTCP)之上的适用于网络机器人的视频实时传输的方法；第5章到第7章介绍与网络机器人视频传输技术相关的其它技术；第八8、9章按照以上章节提出的方法，通过编制应用成程序在Windows平台上实现网络机器人视频传输；笫10章分析实验结果并加以总结。
Network robotics is a new open distributed robot controlling technology combining classical robotics and network technology. Because of robotics development today, robot cannot automatically accomplish all tasks that human submit. Adding human in robot control system, providing key instruct, become a key technology. With network technology's rapid development, information transportation areas are expanding, providing method for exchanging information between controller and robot, remote monitoring and remote controlling of industry robot is not impossible. Video information is a best method that human can acquaint robot's status. The real-time video transport technology between human and robot become a very important technology.
This paper objective is researching and realizing network video real-time transport between controller and robot, including two aspects, one is the method of video encoding and video decoding applying network robotics, the other is network video real-time transport protocol.
This paper content includes: chapter 1 introduce the development of network robotics and the components of network robot system; chapter 2 discuss video pretreatment including video capturing video encoding and video decoding providing for network video real-time transporting; chapter 3 and chapter 4 introduce TCP/IP and programming method about socket, then real-time transport protocol (RTP) and real-time transport control protocol (RTCP) are discussed, basing on RTP and RTCP network video transporting method is put forward for network robot system; from chapter 5 to chapter 7 other technologies about network robotics are introduced and discussed; chapter 8 and chapter 9 on windows platform this method is implemented, application programming is workout, experiment is done and results is analyzed; chapter 10 summarize.
引文
[1]RFC 1889 RTP: A Transport Protocol for Real-Time Applications. Audio-Video Transport Working Group, H. Schulzrinne, S, Casner, R. Frederick, V. Jacobson. January 1996.
[2]RFC 1890 RTP Profile for Audio and Video Conferences with Minimal Control. Audio-Video Transport Working Group, H. Schulzrinne. January 1996.
[3]RFC 2035 RTP Payload Format for JPEG-compressed Video. L. Berc, W. Fenner, R. Frederick, S. McCanne. October 1996.
[4]RFC 2038 RTP Payload Format for MPEG1/MPEG2 Video. D. Hoffman, G. Fernando, V. Goyal. October 1996.
[5]RFC 2250 RTP Payload Format for MPEG1/MPEG2 Video. D. Hoffman, G. Fernando, V. Goyal, M. Civanlar. January 1998.
[6]RFC 2343 RTP Payload Format for Bundled MPEG. M. Civanlar, G. Cash, B. Haskell. May 1998.
[7]RFC 2435 RTP Payload Format for JPEG-compressed Video. L. Berc, W. Fenner, R. Frederick, S. McCanne, P. Stewart. October 1998.
[8]RFC 2733 An RTP Payload Format for Generic Forward Error Correction. J. Rosenberg, H. Schulzrirnne. December 1999.
[9]RFC 2736 Guidelines for Writers of RTP Payload Format Specifications. M. Handley, C. Perkins. December 1999.
[10]RFC 3016 RTP Payload Format for MPEG-4 Audio/Visual Streams. Y. Kikuchi, T. Nomura, S. Fukunaga, Y. Matsui, H. Kimata. November 2000.
[11]ISO/IEC 14496-2:1999, "Information technology- Coding of audio-visual objects- Part2: Visual"
[12]ISO/IEC 14496-3:1999, "Information technology - Coding of audio-visual objects - Part3: Audio"
[13]ISO/IEC 14496-2:1999/Amd.1:2000, "Information technology - Coding of audio-visual objects - Part 2: Visual, Amendment 1: Visual extensions".
[14]ISO/IEC 14496-3:1999/Amd.1:2000, "Information technology- Coding of audio-visual objects-Part3: Audio, Amendment 1: Audio extensions".
[15]ISO/IEC 14496-1:1999, "Information technology-Coding of audio-visual objects-Part1: Systems".
[16]MPEG-2 Fundamentals for Broadcast and Post-Production Engineers, A Video and Networking Division White Paper By Adolfo Rodriguez,David K.Fibush and
Steven C.Bilow July, 1996. Tektronix
[17] TRANSPORT OF SCALABLE MPEG-2 VIDEO OVER ATM BASED NETWORKS, Wenjun Luo,M.EIZarki,,Mutimedia Communications and Video Coding, 1996, pp427-434
[18] Transmission of MPEG-2 Video Streams over ATM, S. Gringeri,B.Khasnabish, A.Lewis,K.Shuaib,R.Egorov,and B.Basch, IEEE MultiMedia, 1998, pp58-70
[19] MPEG-4 Submitted papers, Fernando Pereira Kevin O'Connell Rob Koenen Minoru Etoch Editorial, Signal Processing Image Communication, 1997,10
[20] Windows Sockets 2 Application Programming Interface —— An Interface for Transparent Network Programming Under Microsoft Windows, Martin Hall, Revision 2.2.1, USA: WinSock Group, 1997.5
[21] Windows Sockets 2 Service Provider Interface —— A Service Provider Interface for Transparent Network Programming under Microsoft Windows, Martin Hall, Revision 2.2.1, USA: WinSock Group, 1997.5
[22] Windows Sockets Network Programming, Quinn and Shute,USA: Addison-Wesley, 1996
[23] MFC开发Windows95/NT4应用程序，孙凤英等译，北京：清华大学出版社，1998．4
[24] 用TCP/IP进行网际互连，Douglas E．comer David L．Stevens著．张娟，王海译．．北京：电子工业出版社，1998
[25] Visual C++6．0网络编程技术，雷斌，杨建华，黄超．北京：人民邮电出版社，2000
[26] INTERNET编程，Jamsa K，Cope K，电子工业出版社，1996
[27] Windows Sockets网络程序设计指南，蒋东兴，林鄂华，清华大学出版社，1995．12
[28] MFC Visual C++6．0编程技术内幕，Eugene Olafsen，Kenn Scribner，K．David White等著，机械工业出版社，2000．2
[29] Visual C++程序员实用大全，Charles Wright,中国水利水电出版社 2001．10
[30] 计算机图像处理，容观奥，清华大学出版社，2000年2月
[31] 机器视觉，贾云德，科学出版社，2000年4月
[32] 计算机网络．第2版，谢希仁．北京：电子工业出版社，1999．
[33] 计算机网络[M]．Andrews Tanenbaum，熊桂喜等译．北京：清华大学出版．社，1999．
[34] IPv6服务质量控制机制，张占军，韩承德，杨学良．计算机工程与应用，2001，
[35] 用TCP/IP进行网际互连 第1卷，DONGLASECOMER，林瑶等译，电子工业
出版社，1999
[36] 计算机网络与INTERNET教程，张尧学，王小春，赵艳标．北京：清华大学出版社
[37] Windows Sockets网络程序设计指南，蒋东兴、林鄂华，北京：清华大学出版社，1995．12
[38] DirectShow 8.1 Programmer's Reference, Microsoft, 2001
[2]RFC 1890 RTP Profile for Audio and Video Conferences with Minimal Control. Audio-Video Transport Working Group, H. Schulzrinne. January 1996.
[3]RFC 2035 RTP Payload Format for JPEG-compressed Video. L. Berc, W. Fenner, R. Frederick, S. McCanne. October 1996.
[4]RFC 2038 RTP Payload Format for MPEG1/MPEG2 Video. D. Hoffman, G. Fernando, V. Goyal. October 1996.
[5]RFC 2250 RTP Payload Format for MPEG1/MPEG2 Video. D. Hoffman, G. Fernando, V. Goyal, M. Civanlar. January 1998.
[6]RFC 2343 RTP Payload Format for Bundled MPEG. M. Civanlar, G. Cash, B. Haskell. May 1998.
[7]RFC 2435 RTP Payload Format for JPEG-compressed Video. L. Berc, W. Fenner, R. Frederick, S. McCanne, P. Stewart. October 1998.
[8]RFC 2733 An RTP Payload Format for Generic Forward Error Correction. J. Rosenberg, H. Schulzrirnne. December 1999.
[9]RFC 2736 Guidelines for Writers of RTP Payload Format Specifications. M. Handley, C. Perkins. December 1999.
[10]RFC 3016 RTP Payload Format for MPEG-4 Audio/Visual Streams. Y. Kikuchi, T. Nomura, S. Fukunaga, Y. Matsui, H. Kimata. November 2000.
[11]ISO/IEC 14496-2:1999, "Information technology- Coding of audio-visual objects- Part2: Visual"
[12]ISO/IEC 14496-3:1999, "Information technology - Coding of audio-visual objects - Part3: Audio"
[13]ISO/IEC 14496-2:1999/Amd.1:2000, "Information technology - Coding of audio-visual objects - Part 2: Visual, Amendment 1: Visual extensions".
[14]ISO/IEC 14496-3:1999/Amd.1:2000, "Information technology- Coding of audio-visual objects-Part3: Audio, Amendment 1: Audio extensions".
[15]ISO/IEC 14496-1:1999, "Information technology-Coding of audio-visual objects-Part1: Systems".
[16]MPEG-2 Fundamentals for Broadcast and Post-Production Engineers, A Video and Networking Division White Paper By Adolfo Rodriguez,David K.Fibush and
Steven C.Bilow July, 1996. Tektronix
[17] TRANSPORT OF SCALABLE MPEG-2 VIDEO OVER ATM BASED NETWORKS, Wenjun Luo,M.EIZarki,,Mutimedia Communications and Video Coding, 1996, pp427-434
[18] Transmission of MPEG-2 Video Streams over ATM, S. Gringeri,B.Khasnabish, A.Lewis,K.Shuaib,R.Egorov,and B.Basch, IEEE MultiMedia, 1998, pp58-70
[19] MPEG-4 Submitted papers, Fernando Pereira Kevin O'Connell Rob Koenen Minoru Etoch Editorial, Signal Processing Image Communication, 1997,10
[20] Windows Sockets 2 Application Programming Interface —— An Interface for Transparent Network Programming Under Microsoft Windows, Martin Hall, Revision 2.2.1, USA: WinSock Group, 1997.5
[21] Windows Sockets 2 Service Provider Interface —— A Service Provider Interface for Transparent Network Programming under Microsoft Windows, Martin Hall, Revision 2.2.1, USA: WinSock Group, 1997.5
[22] Windows Sockets Network Programming, Quinn and Shute,USA: Addison-Wesley, 1996
[23] MFC开发Windows95/NT4应用程序，孙凤英等译，北京：清华大学出版社，1998．4
[24] 用TCP/IP进行网际互连，Douglas E．comer David L．Stevens著．张娟，王海译．．北京：电子工业出版社，1998
[25] Visual C++6．0网络编程技术，雷斌，杨建华，黄超．北京：人民邮电出版社，2000
[26] INTERNET编程，Jamsa K，Cope K，电子工业出版社，1996
[27] Windows Sockets网络程序设计指南，蒋东兴，林鄂华，清华大学出版社，1995．12
[28] MFC Visual C++6．0编程技术内幕，Eugene Olafsen，Kenn Scribner，K．David White等著，机械工业出版社，2000．2
[29] Visual C++程序员实用大全，Charles Wright,中国水利水电出版社 2001．10
[30] 计算机图像处理，容观奥，清华大学出版社，2000年2月
[31] 机器视觉，贾云德，科学出版社，2000年4月
[32] 计算机网络．第2版，谢希仁．北京：电子工业出版社，1999．
[33] 计算机网络[M]．Andrews Tanenbaum，熊桂喜等译．北京：清华大学出版．社，1999．
[34] IPv6服务质量控制机制，张占军，韩承德，杨学良．计算机工程与应用，2001，
[35] 用TCP/IP进行网际互连 第1卷，DONGLASECOMER，林瑶等译，电子工业
出版社，1999
[36] 计算机网络与INTERNET教程，张尧学，王小春，赵艳标．北京：清华大学出版社
[37] Windows Sockets网络程序设计指南，蒋东兴、林鄂华，北京：清华大学出版社，1995．12
[38] DirectShow 8.1 Programmer's Reference, Microsoft, 2001