近年來，遠程操作系統(teleoperation systems)由於電腦網路、虛擬實境與圖形使用者介面(GUI)的進步而蓬勃發展。其應用的範圍非常廣泛，可讓人類能在危險區域也能執行各種複雜的作業，例如：核能電廠、深海、火場、礦坑、外太空…等。本論文將呈現一個遠程操作機器人系統，本系統使用Client-Server網路架構，伺服器端是由個人電腦透過RS-232C介面與NTSC影像訊號線連接Canon公司所生產的P/T/Z Camera VC-C4，可對鏡頭做Pan、Tilt、Zoom等控制。客戶端的操作裝置是以一般個人電腦加上圖形使用者介面的程式來當控制介面。通訊裝置可為乙太網路或無線網路，並實作TCP based網路通訊協定，且設計兩端傳送與接收資料的封包。操作者一邊接收伺服器端攝影機傳回來的視訊，一邊使用控制介面來達到遠程操作。一個成功的遠程操作機器人系統，控制介面扮演著關鍵的角色，本論文因此試圖研究一個對於操作者最有效率的控制介面。此控制介面必須簡單清楚，讓操作者一目了然、容易上手，操作起來舒服並有效率。本系統所實作完成的控制介面，因需要得到伺服器端攝影機鏡頭的位置資訊，並以電腦繪圖顯示於控制介面上，然而受限於伺服器跟攝影機詢問鏡頭位置需約200ms的時間，而無法顯示連續的移動軌跡，將造成操作者精神上的負擔，於是參考PHBDR技術來預測顯示攝影機的移動軌跡，使其能平滑的移動，改進控制介面。最後做實驗讓使用者實際操作系統，並整理實驗結果，我們透過觀察使用者實際操作系統的情形，分析並比較本研究所開發的操作介面與傳統控制介面的良窳。

In recent years, teleoperation systems have been improved with the advances in computer networks, virtual reality and graphical user interface. The range of application is extremely extensive, it allows people to carry out all kinds of complicated assignment in dangerous areas, for example, nuclear power plant, deep sea, the scene of a fire, pit, outer space, and so on. This thesis presents a teleoperation system by using Client-Server network architecture. For the server part, we use personal computer to connect with the P/T/Z Camera VC-C4 produced by Canon through the RS-232C interface and NTSC video cable. It can control camera to pan, tilt, and zoom. The operator of client part, we use personal computer and add the program of GUI as controlling interface. The communication device could be Ethernet or wireless network. We implement TCP based network communication protocol and design packet to transmit and receive data between server and client. On one hand the user receive the video transmitted by camera from the server, and on the other hand use the controlling interface to achieve the remote control. The controlling interface plays an important role in a successful teleoperation system. Therefore, this thesis seeks to research the most efficient controlling interface for the user. So the controlling interface must be simple and clear and make the user to understand fully at a glance. It also makes user operate easily, comfortably and efficiently. The implementation of controlling interface of this system, which needs to get the position of camera from the server and displays it on the controlling interface employing computer graphics. However, it is constrained by the server gets the position of camera, the time takes about 200 ms. So it can not display the continuous moving path on the controlling interface. In that way, it will cause the spiritual burden on the user. So we refer to PHBDR technology to predict the moving path of camera and make it move smoothly to improve the controlling interface. At last we do experiments to make user operate the system actually, and put the result in order. By observing the operating situation of user, we analyze the merit and defect of the controlling interface developed by our research through comparing to traditional controlling interface.

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