本文選題：探測機(jī)器人 + 定位　； 參考：《中國礦業(yè)大學(xué)》2014年博士論文

【摘要】：本文根據(jù)煤礦井下尤其是災(zāi)后的非結(jié)構(gòu)化的地形環(huán)境，結(jié)合國內(nèi)外煤礦探測機(jī)器人導(dǎo)航的研究現(xiàn)狀，對煤礦探測機(jī)器人導(dǎo)航所涉及的方法與技術(shù)進(jìn)行研究。論文對煤礦探測機(jī)器人的導(dǎo)航環(huán)境進(jìn)行分析，并以此為依據(jù)對煤礦探測機(jī)器人的運(yùn)動裝置及控制系統(tǒng)進(jìn)行分析與設(shè)計實現(xiàn)，探討了機(jī)器人定位、導(dǎo)航環(huán)境檢測及識別方法，并對基于仲裁融合協(xié)調(diào)策略的導(dǎo)航方法進(jìn)行了詳細(xì)研究，得到了對提高煤礦探測機(jī)器人導(dǎo)航能力具有借鑒意義的結(jié)論。 本文首先從煤礦井下正常巷道、工作面內(nèi)的地形特征、設(shè)備布置的分析出發(fā)，研究機(jī)器人需要克服的煤礦井下環(huán)境，對正常生產(chǎn)與災(zāi)后的煤礦的工作面及巷道內(nèi)的環(huán)境進(jìn)行分類與特征提取，將煤礦探測機(jī)器人導(dǎo)航環(huán)境歸納為四種典型的地形，包括凸臺、斜坡、連續(xù)階梯和壕溝，并給出其尺寸范圍。 為了提高煤礦探測機(jī)器人的越障能力，設(shè)計一種基于非對稱雙三角形的履帶懸架，并建立相應(yīng)的理論模型，對其越障特性進(jìn)行了分析。通過分析表明，該型搖桿式非對稱雙三角形履帶機(jī)器人運(yùn)動裝置具有良好地被動地形適應(yīng)能力與越障性能，可爬上0.32m高的階梯，爬下0.52m高的階梯，通過0.5m寬的壕溝。討論了探測機(jī)器人控制系統(tǒng)的組成，并在系統(tǒng)功能分析的基礎(chǔ)上對控制系統(tǒng)整體方案進(jìn)行了設(shè)計，通過分析比較確定使用PSoC集成開發(fā)平臺作為處理器，進(jìn)一步根據(jù)原型機(jī)詳細(xì)設(shè)計了控制系統(tǒng)的硬件電路和軟件程序，并完成了PCB和實物的制作。并對機(jī)器人的越障性能進(jìn)行試驗驗證，為導(dǎo)航策略規(guī)劃提供參數(shù)依據(jù)。 分析了經(jīng)典卡爾曼濾波、衰減記憶濾波、限定記憶濾波的基本原理和它們的組合使用方式，在此基礎(chǔ)之上，提出了帶有指數(shù)漸消因子的限定記憶卡爾曼濾波方法作為煤礦救災(zāi)機(jī)器人的多傳感器信息融合方法。根據(jù)煤礦救災(zāi)機(jī)器人的自主定位系統(tǒng)的構(gòu)成，對基于航跡推算的自主定位方法進(jìn)行了介紹，提出改進(jìn)后的航跡推算方法，使用帶有指數(shù)漸消因子的限定記憶卡爾曼濾波方法以逐級濾波的方式融合多傳感器信息，實現(xiàn)了對里程計誤差的最小化控制。研制了以STC12C5A60S2微控制器為核心的多傳感器信息融合的硬件系統(tǒng)，并給出了軟件算法流程。計算機(jī)仿真結(jié)果表明，濾波方法可以穩(wěn)定地實現(xiàn)0.5m的跟蹤精度。在此基礎(chǔ)上對機(jī)器人的自主定位功能進(jìn)行試驗，驗證了所用方法的有效性。 然后，通過對幾種匹配方法的研究，，針對機(jī)器人實時性的要求，提出了一種基于最優(yōu)種子排序的準(zhǔn)稠密匹配方法；討論了利用對極線的單點(diǎn)法獲取障礙物三維信息的方法，首先分割障礙物邊緣，利用對極線進(jìn)行加速匹配，逐個求取障礙物各個邊緣極大點(diǎn)的匹配點(diǎn)，進(jìn)而求出各個邊緣極大點(diǎn)的攝像機(jī)坐標(biāo)，然后求出障礙物三維信息——高度、寬度和距離；建立了坡度計算的數(shù)學(xué)模型，并利用RBF方法得到在非正對斜坡情況下對坡度地形進(jìn)行估算的模型；采用Canny算法對連續(xù)階梯圖像邊緣進(jìn)行了檢測，應(yīng)用最小二乘法進(jìn)行擬合直線處理，給出了階梯偏移角的測算方法。 接著，為了提高煤礦探測機(jī)器人對導(dǎo)航環(huán)境的理解能力，根據(jù)本文設(shè)計的CUMT-5型煤礦探測機(jī)器人的越障能力，同時利用模糊理論、圖像處理技術(shù)和神經(jīng)網(wǎng)絡(luò)技術(shù)等手段，對地形的可通過性的分析和評價方法進(jìn)行了探討，提出了對空間位置信息和視覺傳感信息融合從地形起伏度、地形開闊度、地形坡度、地形不連續(xù)度和連續(xù)階梯影響度五個方面對導(dǎo)航環(huán)境可通過性進(jìn)行評價的方法。在對模糊理論、職能學(xué)習(xí)和神經(jīng)網(wǎng)絡(luò)技術(shù)等手段進(jìn)行融合的基礎(chǔ)上，創(chuàng)造性地提出了一種基于仲裁融合協(xié)調(diào)策略的行為控制導(dǎo)航方法。并進(jìn)一步基于典型的環(huán)境模型對行為控制器進(jìn)行設(shè)計，將融合機(jī)制和仲裁機(jī)制的優(yōu)點(diǎn)融入到行為協(xié)調(diào)策略中，實現(xiàn)了自適應(yīng)地對各基本行為的協(xié)調(diào)控制。在此基礎(chǔ)上，將地形可通過性評價引入到協(xié)調(diào)策略中，進(jìn)一步實現(xiàn)了煤礦探測機(jī)器人在復(fù)雜非結(jié)構(gòu)環(huán)境中的導(dǎo)航。 最后，對機(jī)器人綜合導(dǎo)航進(jìn)行對比實驗，結(jié)果表明本章提出的導(dǎo)航方法能夠?qū)崿F(xiàn)復(fù)雜非結(jié)構(gòu)化環(huán)境下的自主導(dǎo)航，不僅對不同環(huán)境具有較好的適應(yīng)能力和可靠性，而且還具有較高的能量約束能力。
[Abstract]:According to the unstructured terrain environment in coal mine, especially the unstructured terrain environment after the disaster, combined with the research status of the navigation of the coal mine detection robot at home and abroad, this paper studies the methods and techniques involved in the navigation of the coal mine detection robot. The paper analyzes the navigation environment of the coal mine detection robot, and based on this, it is based on the coal mine detection robot. The analysis and design of the motion device and control system are carried out. The methods of robot positioning, navigation environment detection and recognition are discussed, and the navigation method based on the coordination strategy of arbitration is studied in detail, and the conclusions are obtained for improving the navigation ability of the coal mine detection robot.
In this paper, starting from the normal coal mine tunnel, the terrain features in the working face and the analysis of the equipment layout, this paper studies the underground environment of the coal mine which the robot needs to overcome, classifies and extracts the environment in the working face and the roadway of the coal mine after the normal production and after the disaster, and sums up the navigation environment of the coal mine detection robot into four typical types. Terrain, including platform, slope, continuous staircase and trench, and its size range.
In order to improve the obstacle avoidance ability of the coal mine detection robot, a caterpillar suspension based on asymmetric double triangle is designed and the corresponding theoretical model is set up to analyze its barrier characteristics. Through analysis, it is shown that the rocker type asymmetrical double triangular crawler robot has a good adaptability and obstacle avoidance of the passive terrain. Performance, can climb up the 0.32m high ladder, climb down the 0.52M high ladder, through the 0.5m wide trench. Discuss the composition of the control system of the detection robot, and design the whole scheme of the control system on the basis of the function analysis of the system. Through the analysis and comparison, the PSoC set development platform is used as the processor, and the prototype is further based on the prototype. The hardware and software programs of the control system are designed in detail, and the production of PCB and object is completed. The performance of the robot's obstacle avoidance is tested and verified, and the parameter basis is provided for the navigation strategy planning.
The basic principle of classical Calman filter, attenuated memory filter, limited memory filter and their combination usage are analyzed. On this basis, a limited memory Calman filter with exponential fading factor is proposed as a multi-sensor fusion method for coal mine disaster relief robot. The structure of the positioning system is introduced, and the autonomous positioning method based on the track estimation is introduced, and the improved method of track estimation is proposed. Using the limited memory Calman filter with exponential fading factor, the multi sensor information is fused by the progressive filtering method, and the minimization control of the error is realized. The STC12C5A6 is developed. The 0S2 micro controller is the core of the multi-sensor information fusion hardware system, and the software algorithm flow is given. The simulation results show that the filtering method can stabilize the tracking precision of the 0.5m. On this basis, the autonomous positioning function of the robot is tested, and the effectiveness of the method is verified.
Then, through the study of several matching methods, a quasi dense matching method based on optimal seed sorting is proposed in view of the real-time requirement of robot. The method of obtaining three-dimensional information of obstacles by single point method of pole line is discussed. First, the edge of obstacles is segmented, and the pole line is used to accelerate the matching, and the obstacle is obtained one by one. In order to find the camera coordinates of the maximum points of each edge, the 3D information of the obstacles - height, width and distance are obtained, and the mathematical model of the slope calculation is established. The RBF method is used to estimate the slope terrain. The Canny algorithm is used. The edge of continuous ladder image is detected, and the least square method is used to deal with the straight line.
Then, in order to improve the understanding ability of the coal mine detection robot to the navigation environment, according to the obstacle ability of the CUMT-5 type coal mine detection robot designed in this paper, and using the means of fuzzy theory, image processing technology and neural network technology, the analysis and evaluation method of the terrain availability are discussed, and the space position is put forward. Information and visual sensing information are fused from five aspects: terrain undulation, terrain opening, terrain slope, topographic discontinuity and continuous ladder influence. Based on the fusion of fuzzy theory, functional learning and neural network technology, the author creatively puts forward a new method. The behavior control navigation method based on the coordination strategy of arbitration is introduced, and the behavior controller is designed based on the typical environment model. The advantages of the fusion mechanism and the arbitration mechanism are integrated into the behavior coordination strategy, and the adaptive control of the basic behavior is realized. On this basis, the terrain can be evaluated. It is introduced into the coordination strategy to further realize the navigation of coal mine detection robot in complex and unstructured environment.
Finally, a comparative experiment on robot integrated navigation is carried out. The results show that the navigation method proposed in this chapter can realize autonomous navigation in complex and unstructured environment. It not only has better adaptability and reliability to different environment, but also has high energy constraint ability.

【學(xué)位授予單位】：中國礦業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：TD714;TP242

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