基于人機(jī)交互的搜救機(jī)器人控制站系統(tǒng)研究.pdf

1、沈陽建筑大學(xué)碩士學(xué)位論文基于人機(jī)交互的搜救機(jī)器人控制站系統(tǒng)研究姓名：王楠申請學(xué)位級別：碩士專業(yè)：模式識別與智能系統(tǒng)指導(dǎo)教師：吳成東201103碩士研究生學(xué)位論文AbstractIIIAbstractInconfmitywiththerequestfsearchrescueapplicationthesearchrescuerobotbecomeabranchofroboticsresearch.Thesearchrescueroboti

2、sthekindoftypicalsystem“humanrobotenvironment”.Thecontrolstationasthekernelcontrollerofthesystemistheonlyplatfmconnectshumanrobottogetherwhichdirectlyaffectstheadaptabilityoftherobotdecisionmakingabilityoftheoperattheeff

3、iciencyofexecutingrescuemission.Theresearchdiscussedinthispaperissupptedontheproject“863““ResearchonaReliccarverescuerobot“.Thepaperdoesdeepresearchonthecontrolstationsystemoftheshapeshiftingsearchrescuerobotbasedonthein

4、teractivetechnology.Theresearchfieldsincludetheshapeshiftingrobotplatfmthearchitectureplanningmechanismofthecontrolstationtherealtimesensejudgesystemthedesignofthecontrolstation.Firstlythecontrolstationisdevelopedfthesha

5、peshiftingsearchrescuerobot.Thefunctionalacteristicstransfmationtheyofthemodularrobotareanalysis.Themodularshapeshiftingtrackedrobotwithstrongadaptabilityhighflexibilityismainlyappliedinsearchrescuefieldsuchtechnicalassi

6、gnmentfields.Thedistributedmodularcontrolsystemisdesignedfthemodularrobottocompletecooperativemotionconfigurationtransfmation.Thecontrolsystemcanbedividedintoseveralsinglemodularsubsystemsofdifferentfunctionscontrolledby

7、independentcontrollerthedistributedcontrolmethodguaranteeseachsubsystemimplementmissionsindependentlysynchronously.SecondlyIndertocarryoutrescuemissionssafelyeffectivelyindesertThefunctionswhichthedesignedcontrolstationc

8、anprovidemustbedependedontheacteristicstheapplicationsoftheshapeshiftingsearchrescuerobot.Thedesignprincipleofcontrolstationsystemisbasedontheinteractivetechnology.Thearchitectureofthecontrolstationisakindofcombinedarchi

9、tecturebasedbothonfusionlayerbehaviwiththefeaturesofleveldynamicmodularizedcontrolability.Thecontrolstationsystemadoptsvisualsensevoicesenseoftouchmultichanneljointwkmodemethoddynamicallyconstructsmovementsequenceplanmec

10、hanismofsequentialrelationshipaccdingtocontrolmissions.Thirdlyresearchisdoneabouttherealtimesensejudgesystemofthecontrolstationbasedonvirtualrealitytechnology.Thearchitectureoftherealtimesensejudgesystemisconstructedfsat

11、isfyingtheneedofrobotsimulationdisasterrescuemissionwhichcanbereconfiguredaccdingtodifferentapplicationdems.Thekeytechnologyimplementationmethodofsubsystemsuchasthreedimensionalmappingvirtualsupervisyalgithmsimulationare

12、discussedrespectively.Thevirtualsupervisyenvironmentdemonstratedbythesystemcandynamicallymaptherealtimestateoftherobot.Simulationexperimentplatfmisprovidedfrobotics.Lastofallthehardwaresoftwaresystemofthecontrolstationis

13、designedimplemented.Thekernelmastercontrolsystemisdesignedinthefmofasymmetricplatfmwhichtakestheanalytichierarchyprocesstomakedecisions.Allthefunctionalmodulesarecapsulatedinaptablecasetointegrateasawhole.Theframewkofthe