本文選題：機器人　切入點：遠程控制　出處：《山東大學》2017年碩士論文　論文類型：學位論文

【摘要】：在特殊區(qū)域作業(yè)的機器人是現(xiàn)代機器人技術(shù)的重要應(yīng)用之一。特殊區(qū)域是指帶有潛在危險對人身安全構(gòu)成威脅甚至會危害人的生命的作業(yè)環(huán)境,例如煤礦井下作業(yè)環(huán)境與交警道路執(zhí)勤環(huán)境等。隨著機器人控制技術(shù)的不斷進步和機器人智能程度的不斷提高,機器人技術(shù)有望從根本上改變在特殊區(qū)域中的生產(chǎn)和作業(yè)方式。為解決在特殊區(qū)域作業(yè)的安全問題,本文詳細分析了國內(nèi)外有關(guān)機器人控制方面與機器人智能化方面的發(fā)展與應(yīng)用現(xiàn)狀。將機器人的控制方式歸納為兩種:自主控制和人工控制,自主控制是指使用智能機器人根據(jù)自主意識控制自己的行為;人工控制是指操作人員現(xiàn)場控制機器人或通過網(wǎng)絡(luò)通信遠程控制機器人。并且總結(jié)了現(xiàn)有控制方式存在的問題:1.完全自主的,機器人控制技術(shù)尚不成熟,需要人工干預;2.通過計算機進行機器人遠程控制的傳統(tǒng)方式,交互不夠直觀、自然,控制設(shè)備不便攜帶;3.基于體感識別的控制方式不適用于功能復雜的控制系統(tǒng)。針對這些問題,本文采用"智能+人工"的方式,充分利用智能機器人的自主控制功能,并加以遠程控制進行監(jiān)視和干預,實現(xiàn)一種適用于特殊區(qū)域作業(yè)的機器人控制原型系統(tǒng)。本文首先對機器人控制原型系統(tǒng)進行了需求分析,明確了系統(tǒng)總體架構(gòu)與各功能模塊邏輯架構(gòu)。系統(tǒng)以智能機器人Nao為控制對象,包含兩個控制平臺:基于Android的移動控制平臺和基于Kinect的體感交互控制平臺。移動控制平臺負責控制機器人的動作控制、語音播報、狀態(tài)轉(zhuǎn)換、尋址定位和聲音追蹤功能。體感交互控制平臺是對移動控制平臺的補充與升級,負責控制機器人實時跟蹤控制者上肢動作,以適配特殊區(qū)域的作業(yè)要求,同時保證交互控制自然流暢。然后對兩個控制平臺中各個功能模塊進行具體實現(xiàn)并對控制效果進行測試與分析。經(jīng)測試,本文提出的殊域機器人現(xiàn)場監(jiān)視遠程智能交互控制平臺達到了設(shè)計要求,在一定程度上具備用于特殊區(qū)域作業(yè)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.
【學位授予單位】：山東大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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