基于Kinect竞赛用体感控制机器人的开发研究

发布时间：2018-04-25 16:25

本文选题：Kinect + 竞赛机器人　；参考：《重庆师范大学》2017年硕士论文

【摘要】：20世纪50年代末世界上第一台机器人诞生后,机器人得到了迅速发展。20世纪末期,智能机器人竞赛如雨后春笋逐渐涌现。竞赛用机器人可以在一定程度上体现国家智能化发展的水平及自动控制领域的根本实力。近年来,随着国家对创新型人才的需求,越来越多的高校把机器人竞赛作为大学生创新实践能力培养的一个新平台。随着虚拟现实和增强现实技术的不断成熟,各种新型的VR、AR设备不断问世,设计能够更好捕捉操作者意图以实现更自然人机交互的智能设备已是大势所趋。其中,微软发布的Kinect体感设备因其不借助其他物理设备,直接通过肢体控制游戏而风靡一时。之后,微软发布了Kinect for Windows SDK,可以支持Kinect完成骨骼识别、语音识别及人脸识别等功能。至此,Kinect逐渐走出游戏领域,并开始应用于医疗、教育及机器人等多个领域。本课题来源于2015年中国机器人大赛暨RoboCup公开赛武术擂台赛中动作投影比赛项目。本课题的研究目的是通过基于Kinect体感控制机器人的设计与开发,激发学生对机器人技术及体感交互技术的学习兴趣,培养学生的创新思维与实践操作能力,进而对创新型人才培养理论的进一步发展提供参考。此研究不仅可以应用于机器人竞赛,也可以作为教学案例应用在课堂教学和实践教学中,用于丰富和充实大学生课堂教学和实践教学的案例成果。本文以Kinect体感设备为硬件基础,开发一款竞赛用的体感控制机器人,旨在构建一个以体感控制技术为背景,以机器人为对象的实践方案,开展体感控制技术和机器人竞赛的教育和研究,开展高校创新型人才的训练和培养。本文首先通过研读竞赛文件了解机器人竞赛内容及相关技术要求;接着根据机器人技术要求和竞赛任务制定体感控制机器人的总体设计思路;其次依据“自顶向下”软件开发思路分别完成上位机控制端设计及下位机机器人设计;然后在Visual Studio软件中完成体感控制机器人的软件设计与编写;最后,对设计好的机器人进行体感控制测试,并对测试结果提出一些改进意见。
[Abstract]:After the birth of the first robot in the world at the end of the 1950s, the robot has developed rapidly in the late.20 century. The competition of intelligent robots has sprung up after the rain. The competition robot can reflect the level of national intelligence development and the fundamental strength of the automatic control field to a certain extent. In recent years, with the country's innovation With the demand of talents, more and more colleges and universities have taken robot competition as a new platform for training the creative practice ability of college students. With the development of virtual reality and augmented reality technology, various new types of VR and AR devices are coming out continuously, and the design of intelligent equipment that can better capture the operator's map to realize the more natural human-computer interaction has been designed. It is the trend of the times. Among them, Microsoft's Kinect somatosensory device is all the rage because it does not use other physical devices, directly through limb control games. After that, Microsoft releases Kinect for Windows SDK, which can support the functions of skeletal recognition, speech recognition and face recognition, and Kinect gradually goes out of the game field and opens. It is originally used in many fields, such as medical, education and robot. This project comes from the 2015 Chinese robot competition and the action projection competition in the RoboCup open martial arts competition. The purpose of this study is to stimulate the students' interaction technology of robot technology and body sense through the design and development of the robot based on the Kinect sense control. This study can be used not only in robot competitions but also in classroom teaching and practice teaching as teaching cases to enrich and enrich students' classroom teaching and practice teaching. This paper develops a somatosensory control robot based on Kinect somatosensory device as the hardware foundation. It aims to build a practical scheme of body sensing technology as the background and the robot as the object, to carry out the education and research of the body sense control technology and robot competition, and to carry out the training and training of innovative talents in Colleges and universities. In this paper, we first read the competition documents to understand the content of robot competition and the related technical requirements. Then, according to the robot technical requirements and the competition task, the overall design idea of the robot is controlled. Secondly, the design of the upper computer control end and the robot robot are completed according to the "top-down" software development idea. Then the software design and writing of the somatosensory robot are completed in the Visual Studio software. Finally, the body sense control test of the designed robot is carried out, and some improvements are given to the test results.

【学位授予单位】：重庆师范大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242-4;G642

【参考文献】