【作者】 王建超；

【导师】 张明路；

【作者基本信息】 河北工业大学 ， 机械电子工程， 2007， 硕士

【摘要】 在危险、恶劣以及人类难以到达的环境中作业时,机器人可以作为人类智能的延伸,拓展人的感知和操作能力。由于现有的人工智能的局限性,实现机器人安全有效的全自主操作还不现实,因此本文将人的智能同机器人的自主性有机的结合起来,深入研究基于虚拟现实的机器人遥操作系统。虚拟现实技术是一门新兴的学科,是迄今为止最强的人机接口技术。将虚拟现实技术引入机器人遥操作系统,不仅增强了远端执行机构的作业能力,也拓展了设备的应用领域,使操作者能安全舒适的操纵机器人完成任务。本文在国家863计划项目“极限环境下面向危险品检测的多感官机器人系统”(2006AA04Z221)的支持下,主要开展了以下几方面的研究:1.在分析典型的遥操作控制方式的基础之上,提出了本系统的控制思想,即利用虚拟现实技术在遥控端设计一个在结构和功能上与真实机器人相对应的虚拟机器人,通过对虚拟机器人的控制实现对真实机器人的遥操作,并建立了系统的分层控制模型。2.在信息传输系统的设计中,将信息分为视频信息和非视频信息两类,采用两路并传的方式来提高传输速度。非视频信息主要包括控制指令、机器人的环境和位姿信息等,采用TCP/IP协议在符合IEEE802.11b规范的WLAN上传输;视频信息利用工作在223~235MHz频段的数传电台传输,并利用多缓冲区、多线程技术提高了视频传输质量。由于在传输过程中,通信延迟不可避免,本部分分析了通信延迟产生的原因和类型,并在实验室环境下对通信延迟进行了模拟,给出了解决方法。3.在系统的实现部分,在分析了真实机器人的硬件组成和控制结构的基础上,建立了机器人的运动学模型和几何模型,利用OpenGL和Visual C++构建了虚拟环境,使用双投影仪系统和数据头盔实现了立体成像,通过佩戴数据手套实现了方便、自然的人机交互。更多还原

【Abstract】 When working in the environment, where is dangerous poor and hard to reach for man, teleoperated-robot can act as the extension of human’s intelligence and strenghen man’s ability of perception and operation. Limited to the level of today’s artificial intelligence, it’s unrealistic for robot to work safely and effectively all by itself. So, in this paper, we combined human’s intelligence with robot’s autonomy flexibly, studied the robot teleoperation system based on virtual reality deeply.As a rising subject, virtual reality is the best human-machine interface technology by far. Bring virtual reality into teleopration system, not only strengthens working ability of the actuator but also widens application areas of the device. Manipulator can safely and cozily completes tasks by teleoperating the robot. Supported by National High-Tech Research and Development Program of China (863 Program)“Multi-sensory robot system for detection of dangerous goods”under grants NO. 2006AA04Z221, this paper carried out research in these aspects as follows:Firstly, on the basis of analyzing the typical teleoperation control modes, this paper brought forward controlling means of the system, that was, designed a virtual robot in remote terminal which corresponded with the real robot in structure and function, compeleted the control of robot through operating the virtual robot. And it set up the model of hierarchical control.Secondly, when designing the information system, we divided the information into two types- viedo information and non-video information, and transmitted them separately to enhance transmission rate. Non-information, mainly including directive and information of robot’s pose and environment, was transmitted on WLAN which corresponded to IEEE802.11b standards using TCP/IP protocol; video information was transmitted by data radio that worked in 223~235MHz band and enhanced its quality by using multi-buffer and multi-thread techniques. For delays inevitably existed in the transmission, we analyzed its cause and type, then simulated it in lab and brought forward resolutions.Thirdly, after analyzing the robot’s hardware and control structure, this paper set up its geometric and kinematics model, then bulit virtual environment by OpenGL and Visual C++. We got stereo images by dual-projector and HMD.Wearing data-glove made HCI (Human-Computer Interaction) convenient and natural.更多还原