發(fā)布時(shí)間：2018-08-30 07:48

【摘要】：隨著互聯(lián)網(wǎng)、人工智能等高新科技的飛速發(fā)展,偵察機(jī)器人系統(tǒng)在軍事、消防、救災(zāi)、勘探等領(lǐng)域獲得了廣泛的應(yīng)用。目前,國(guó)內(nèi)外在研、在用的偵察機(jī)器人系統(tǒng)分為空中偵察機(jī)器人系統(tǒng)和陸地偵察機(jī)器人系統(tǒng)兩大系列,均具有明顯的優(yōu)勢(shì)特點(diǎn),本文設(shè)計(jì)一種可分離式立體偵察機(jī)器人,兼顧空中飛行與地面移動(dòng)行走,實(shí)現(xiàn)了陸域、空域協(xié)同立體式偵察,是對(duì)現(xiàn)有偵察機(jī)器人體系的有利補(bǔ)充。首先,設(shè)計(jì)了可變形履帶式機(jī)器人與四旋翼無人機(jī)相結(jié)合的方案,采用磁力鎖吸合與多自由度機(jī)械手臂抓取的物理結(jié)構(gòu),實(shí)現(xiàn)兩者之間的快速分離與剛體結(jié)合,同時(shí)設(shè)計(jì)了空中飛行控制系統(tǒng)與地面移動(dòng)行走控制系統(tǒng),采用MQTT(Message Queuing Telemetry Transport,消息隊(duì)列遙測(cè)傳輸)協(xié)議作為遠(yuǎn)端姿態(tài)控制協(xié)議。其次,通過牛頓-歐拉法建立機(jī)器人姿態(tài)角解算模型,描述其橫滾角、俯仰角和偏航角三種飛行姿態(tài)角,根據(jù)模型建立系統(tǒng)狀態(tài)方程和觀測(cè)方程,采用改進(jìn)型的卡爾曼濾波算法——無色卡爾曼濾波算法與擴(kuò)展卡爾曼濾波算法進(jìn)行姿態(tài)角解算,并通過Matlab仿真對(duì)比,驗(yàn)證無色卡爾曼濾波算法與擴(kuò)展卡爾曼濾波算法的姿態(tài)角解算精度與實(shí)時(shí)性,對(duì)比仿真結(jié)果表明,無色卡爾曼濾波算法比擴(kuò)展卡爾曼濾波算法姿態(tài)角估計(jì)精度更高、實(shí)時(shí)性更強(qiáng),最終采用無色卡爾曼濾波算法進(jìn)行姿態(tài)角解算,得到飛行姿態(tài)角最優(yōu)估計(jì)值,并應(yīng)用于實(shí)際飛行控制系統(tǒng)中。最后,研制出偵察機(jī)器人樣機(jī),實(shí)現(xiàn)了高空飛行、地面移動(dòng)、爬坡、語音控制、遠(yuǎn)端語音視頻回傳,以及四旋翼無人機(jī)與履帶式機(jī)器人的智能結(jié)合與智能回收等功能,并在實(shí)際環(huán)境中對(duì)樣機(jī)的性能與功能進(jìn)行測(cè)試,測(cè)試結(jié)果表明,該款偵察機(jī)器人克服了傳統(tǒng)偵察機(jī)器人系統(tǒng)面臨的地形受限問題,具備良好的偵察地形適應(yīng)能力,機(jī)動(dòng)性良好,通信距離遠(yuǎn),綜合偵察作業(yè)時(shí)間長(zhǎng),真正做到立體式全方位偵察,提高了無人偵察的效率。
[Abstract]:With the rapid development of the Internet, artificial intelligence and other high-tech, reconnaissance robot system has been widely used in military, fire, disaster relief, exploration and other fields. At present, at home and abroad, the reconnaissance robot system in use is divided into two series: aerial reconnaissance robot system and land reconnaissance robot system, both of which have obvious advantages. In this paper, a separable stereo reconnaissance robot is designed. Combined aerial flight and ground moving walking, the cooperative stereo reconnaissance in land and airspace is realized, which is a favorable supplement to the existing reconnaissance robot system. Firstly, the scheme of deformable crawler robot and four-rotor UAV is designed, which adopts the physical structure of magnetic lock and multi-degree-of-freedom mechanical arm to realize the quick separation and rigid body combination between the two. At the same time, the air flight control system and the ground mobile walking control system are designed. The remote attitude control protocol is based on the MQTT (Message Queuing Telemetry Transport, message queue telemetry transmission protocol. Secondly, by Newton-Euler method, the attitude angle calculation model of the robot is established, and the three flight attitude angles of roll angle, pitch angle and yaw angle are described, and the system state equation and observation equation are established according to the model. An improved Kalman filter algorithm, colorless Kalman filter, and extended Kalman filter algorithm are used to calculate the attitude angle, and the simulation results are compared by Matlab. The accuracy and real time of attitude angle estimation of colorless Kalman filter and extended Kalman filter are verified. The simulation results show that the accuracy of attitude angle estimation of colorless Kalman filter is higher than that of extended Kalman filter. Finally, the colorless Kalman filter algorithm is used to calculate the attitude angle, and the optimal estimation value of the flight attitude angle is obtained, which is applied to the actual flight control system. Finally, a prototype reconnaissance robot is developed, which realizes the functions of high altitude flight, ground movement, slope climbing, voice control, remote voice and video return, intelligent combination and intelligent recovery of four-rotor UAV and crawler robot, etc. The performance and function of the prototype are tested in the actual environment. The test results show that the reconnaissance robot overcomes the problem of terrain limitation faced by the traditional reconnaissance robot system, has good adaptability to reconnaissance terrain, and has good maneuverability. The communication distance is long, the integrated reconnaissance operation time is long, and the stereoscopic omnidirectional reconnaissance is really achieved, and the efficiency of unmanned reconnaissance is improved.
【學(xué)位授予單位】：西安郵電大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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