To meet the requirement of multiple monitoring terminals for the mobile detection robot,and promote the diversification of monitoring mode,a master-slave video surveillance system based on RTP is designed.In this system,the robot control box was used as the main server,and the remote video information compressed by the H.264 was sent to the client through the RTP.Android terminal can receive the RTP packet,decode the H.264 stream data and play the real-time video on the screen.Server was responsible for the permission management and priority setting to solve the problem of possible command conflicts among the clients.Compared to the traditional single terminal system,tests show that the new system has good real-time performance,and better flexibility,portability and friendliness of human-machine interaction.%为满足移动探测机器人的多终端监控的情景要求,促进机器人监控模式的多样化,设计了一种基于RTP的机器人主从式视频监控系统.该系统中,机器人的控制箱作为主服务器,将经H.264压缩过的远端视频信息,通过RTP协议发送到客户端.Android移动智能终端作为客户端,完成RTP包的接收、解码及实时视频播放等工作.主服务器可以对客户端进行权限管理,并设置相应优先级,以解决可能产生的多终端指令冲突问题.测试表明,该系统具有较好的实时性,相对传统的单控制箱监控系统,具有更好的灵活性、便携性及可扩展性.
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