殊域机器人现场监视远程智能交互控制平台及关键技术

发布时间：2018-03-03 06:36

本文选题：机器人　切入点：远程控制　出处：《山东大学》2017年硕士论文　论文类型：学位论文

【摘要】：在特殊区域作业的机器人是现代机器人技术的重要应用之一。特殊区域是指带有潜在危险对人身安全构成威胁甚至会危害人的生命的作业环境,例如煤矿井下作业环境与交警道路执勤环境等。随着机器人控制技术的不断进步和机器人智能程度的不断提高,机器人技术有望从根本上改变在特殊区域中的生产和作业方式。为解决在特殊区域作业的安全问题,本文详细分析了国内外有关机器人控制方面与机器人智能化方面的发展与应用现状。将机器人的控制方式归纳为两种:自主控制和人工控制,自主控制是指使用智能机器人根据自主意识控制自己的行为;人工控制是指操作人员现场控制机器人或通过网络通信远程控制机器人。并且总结了现有控制方式存在的问题:1.完全自主的,机器人控制技术尚不成熟,需要人工干预;2.通过计算机进行机器人远程控制的传统方式,交互不够直观、自然,控制设备不便携带;3.基于体感识别的控制方式不适用于功能复杂的控制系统。针对这些问题,本文采用"智能+人工"的方式,充分利用智能机器人的自主控制功能,并加以远程控制进行监视和干预,实现一种适用于特殊区域作业的机器人控制原型系统。本文首先对机器人控制原型系统进行了需求分析,明确了系统总体架构与各功能模块逻辑架构。系统以智能机器人Nao为控制对象,包含两个控制平台:基于Android的移动控制平台和基于Kinect的体感交互控制平台。移动控制平台负责控制机器人的动作控制、语音播报、状态转换、寻址定位和声音追踪功能。体感交互控制平台是对移动控制平台的补充与升级,负责控制机器人实时跟踪控制者上肢动作,以适配特殊区域的作业要求,同时保证交互控制自然流畅。然后对两个控制平台中各个功能模块进行具体实现并对控制效果进行测试与分析。经测试,本文提出的殊域机器人现场监视远程智能交互控制平台达到了设计要求,在一定程度上具备用于特殊区域作业的能力。
[Abstract]:Robots operating in special areas are one of the important applications of modern robot technology. For example, coal mine underground working environment and traffic police road operation environment, etc. With the development of robot control technology and the improvement of robot intelligence, Robot technology is expected to radically change the way in which production and work are done in a particular area. In this paper, the development and application of robot control and robot intelligence at home and abroad are analyzed in detail. The robot control mode is divided into two types: autonomous control and manual control. Autonomous control refers to the use of intelligent robots to control their own behavior according to their autonomous consciousness. Manual control refers to the robot controlled by operator on the spot or remotely controlled by network communication. The existing problems of control mode are summarized in this paper: 1. Completely autonomous, the robot control technology is not yet mature. The traditional way of robot remote control by computer is not intuitive and natural. The control method based on body sense recognition is not suitable for complex control system. In view of these problems, this paper adopts the "intelligent manual" method to make full use of the autonomous control function of intelligent robot. The remote control is used to monitor and intervene to realize a robot control prototype system suitable for special area operation. Firstly, the requirements of the robot control prototype system are analyzed. The overall architecture of the system and the logic architecture of each functional module are defined. The system takes the intelligent robot Nao as the control object. The mobile control platform includes two control platforms: mobile control platform based on Android and interactive control platform based on Kinect. Addressable location and sound tracking function. The interactive control platform is a supplement and upgrade to the mobile control platform, which is responsible for controlling the robot's real-time tracking of the upper limb movement of the controller to adapt to the operational requirements of a special area. At the same time, the interaction control is guaranteed to be natural and smooth. Then each functional module in the two control platforms is implemented and the control effect is tested and analyzed. In this paper, the remote intelligent interactive control platform for field monitoring of special field robot meets the design requirements and has the ability to be used in special area to some extent.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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