本文選題：四足機(jī)器人 + TOF相機(jī)　； 參考：《山東大學(xué)》2017年碩士論文

【摘要】：四足機(jī)器人與利用履帶或者輪子的機(jī)器人相比不必需要連續(xù)的路徑并且能夠通過更為復(fù)雜的地形,并且它的運(yùn)動(dòng)更為靈活多變。四足機(jī)器人從機(jī)身結(jié)構(gòu)來說,比腿足種類的機(jī)器人要簡單的多,而且雖然結(jié)構(gòu)簡單,但是它們行動(dòng)起來卻非常的靈活穩(wěn)定,在行動(dòng)時(shí)四足機(jī)器人的作用機(jī)理與人類相仿,可以隨機(jī)的變換自己的步伐狀態(tài)來適應(yīng)各種各樣的地形,并且自如地前進(jìn)。結(jié)合以上表述,在機(jī)器人的研究種類中,對(duì)于四足機(jī)器人的探討研究是一個(gè)非常好的課題。隨著時(shí)代的發(fā)展進(jìn)步,對(duì)于機(jī)器人的各種研討也在時(shí)刻加深,因此關(guān)于四足機(jī)器人對(duì)于環(huán)境的感知研究非�；鸨�。機(jī)器人的環(huán)境感知決定了它是否可以進(jìn)行自主地導(dǎo)航,所以對(duì)于障礙物方面的檢測就成為了研究的重中之重。不同于大多的其他類型的機(jī)器人,四足機(jī)器人通�；顒�(dòng)在室外環(huán)境中,在非結(jié)構(gòu)化的環(huán)境下進(jìn)行一些勞作。因此本文以TOF相機(jī)為例,研究在非結(jié)構(gòu)環(huán)境中,它的障礙物檢測情況,下面為本文研究重點(diǎn)內(nèi)容:(1)在緒論部分,提出了本文研究的意義與背景;其次重點(diǎn)介紹目前國內(nèi)外對(duì)于四足機(jī)器人的學(xué)術(shù)探究情況;然后又介紹了機(jī)器人環(huán)境感知的研究現(xiàn)狀,包括了對(duì)于環(huán)境感知的分析和其發(fā)展趨勢,從而給我們構(gòu)建機(jī)器人感知系統(tǒng)構(gòu)建提供靈感;同時(shí),我們介紹了移動(dòng)機(jī)器人障礙物檢測的方法;最后,給出了本文主要的研究內(nèi)容等。(2)構(gòu)建TOF相機(jī)、激光掃描儀等的障礙物檢測系統(tǒng)。該系統(tǒng)之中,用TOF相機(jī)檢測距離較近的障礙物,激光掃描儀檢測距離較遠(yuǎn)的障礙物。(3)進(jìn)行相機(jī)的標(biāo)定。要想知道一個(gè)物體的具體三維數(shù)據(jù),就必須對(duì)相機(jī)采取標(biāo)定。這一部分主要介紹了相機(jī)的成像模型、三個(gè)坐標(biāo)系的關(guān)系和運(yùn)用的標(biāo)定方法等,通過相機(jī)標(biāo)定的實(shí)驗(yàn)我們求出了它的內(nèi)參數(shù)矩陣。由于相機(jī)有測量范圍,所以我們要對(duì)于超過相機(jī)范圍的部分?jǐn)?shù)據(jù)進(jìn)行處理,從而減少測量時(shí)的誤差。(4)在本文中,我主要向大家介紹三個(gè)類型的新型處理圖像的方式。一是圖像的預(yù)處理方法;二是腐蝕以及膨脹方法;三是邊緣檢測方法。傳統(tǒng)圖像分割方法很難用來分割非結(jié)構(gòu)化環(huán)境圖像,因此我們利用TOF相機(jī)能夠生成灰度圖像以及圖像像素點(diǎn)三維信息的特點(diǎn),通過分割圖像的方式,初步地將障礙物從圖像中抽離出來。最終通過邊緣檢測的方式檢測障礙物。我們同時(shí)根據(jù)四足機(jī)器人運(yùn)動(dòng)特點(diǎn),對(duì)于TOF相機(jī)進(jìn)行了防抖動(dòng)的處理,我們注意到防抖的方式有光學(xué)防抖和電子防抖,由于硬件的條件限制,TOF相機(jī)本身并不具有光學(xué)防抖,因此我們只能選擇電子防抖的方法,并且對(duì)于防抖進(jìn)行了實(shí)驗(yàn)的驗(yàn)證,然后結(jié)合以上的研究,得出了四足機(jī)器人可以使用該系統(tǒng)的可靠性結(jié)論。我們在研究的最后,關(guān)于本文的重要研究內(nèi)容進(jìn)行了總括并提出了未來對(duì)該項(xiàng)目的研究期望。
[Abstract]:Four legged robots do not need a continuous path and can pass a more complex terrain than a robot using a crawler or wheel, and its motion is more flexible. A quadruped robot is much simpler than a legged robot from the fuselage structure, and although the structure is simple, they do not act. It is often flexible and stable that the mechanism of the four legged robot is similar to the human being in action. It can adapt to all kinds of terrain and move forward at random. In the research category of the robot, the research on the quadruped robot is a very good subject. The development and progress of the robot has also been deepened at all times, so the research on the environmental perception of the quadruped robot is very hot. The environment perception of the robot determines whether it can navigate autonomously, so the detection of obstacles is the most important of the research. Type of robot, quadruped robot usually activities in the outdoor environment and do some work under unstructured environment. Therefore, this paper takes the TOF camera as an example to study the detection of its obstacles in the unstructured environment. The following is the main content of this paper: (1) the significance and background of this study are put forward in the thread theory; secondly, the importance and background of this study are put forward. This paper introduces the academic research on quadruped robots at home and abroad, and then introduces the research status of robot environmental perception, including the analysis of environmental perception and its development trend, which gives us inspiration for the construction of robot perception system. At the same time, we introduce the method of detecting obstacle in mobile robots. Finally, the main research contents of this paper are given. (2) building an obstacle detection system of TOF camera and laser scanner. In this system, a TOF camera is used to detect obstacles near the distance, and the laser scanner detects obstacles that are far away. (3) the calibration of the camera. To know the specific three-dimensional data of an object, it must be correct The camera is calibrated. This part mainly introduces the imaging model of the camera, the relation of the three coordinate systems and the calibration method of the application. By the experiment of camera calibration, we find out its internal parameter matrix. Because the camera has a measuring range, we have to deal with some of the data over the camera model, thus reducing the measurement. 4. (4) in this article, I mainly introduce three types of new image processing methods. One is the image preprocessing method; two is the corrosion and expansion method; three is the edge detection method. The traditional image segmentation method is difficult to segment the unstructured environment image, so we can use the TOF camera to generate gray scale map. As well as the features of the three-dimensional information of the pixel points of the image, the obstacles are removed from the image by dividing the images. Finally, the obstacles are detected by the edge detection. At the same time, according to the characteristics of the quadruped robot, we deal with the anti jitter of the TOF camera. We notice that the mode of anti shake is optical. Because of the restriction of hardware, the TOF camera itself does not have optical anti shake. Therefore, we can only choose the method of electronic anti shake and verify the anti shake experiment. Then, combining the above research, we get the reliability conclusion of the four legged robot which can use the system. The important research contents of this article are summarized and the future research expectation for this project is presented.

【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP391.41;TP242

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