排爆机器人遥操作性能研究
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摘要
排爆机器人是最典型的遥操作机器人。本文在国家863项目“反恐排爆机器人研究“、国家863项目“消防侦察机器人研究”和国家自然科学基金项目“遥操作机器人操作性能研究”的支持下,从系统的角度对影响排爆机器人遥操作性能的各主要因素进行了分析研究,重点研究排爆机器人排爆作业安全性差、效率低和操作者紧张程度高等几个方面,对排爆机器人的开发设计提供指导性建议。
从排爆机器人半自主爆炸物抓取研究入手,在分析了排爆作业的瓶颈在于如何克服二维图像无法正确指导操作者操作机械臂抓取爆炸物后,作者创新性的提出了基于激光测距的环境建模和爆炸物定位方法,利用智能搜索A*算法,实现了爆炸物的半自主抓取。另外,作者试图通过双目立体视觉来定位爆炸物,但结果表明,由于排爆机器人的移动性、机械臂的不够精确性等原因双目视觉得到的爆炸物位置数据有很大误差,其应用受到了限制。在从半自主抓取爆炸物这个局部研究的基础上展开,引出了下一章的内容,从系统的角度全面考虑排爆机器人遥操作性能。
提出了排爆机器人遥操作性能的概念,并分析了体现遥操作性能的性能指标。在遥操作机器人的性能和功能基础上,人们对其提出了更高的标准,要求其能在更复杂和非结构化的环境下完成更难的工作。影响排爆机器人遥操作性能的6个一级性能指标,每一个都为多个二级性能指标的加权和,找出影响性能的根本原因,提高排爆机器人的整体遥操作性能。这些性能指标的提出为如何提高排爆机器人的遥操作性能指明了方向,并进行了量化分析。根据用途的不同,对排爆机器人进行了分类,给出了每一类对应的两级性能指标的权重参数,并以侦察型排爆机器人为例加以说明。
采用层次分析法,从轮式、履带式、关节式、“关节-轮”式、“关节-履带”式五种机构中为排爆机器人SUPER-Ⅱ的移动载体选择了一种最优机构形式。分析了传统三自由度排爆机械臂的局限性,设计出了六冗余自由度机械臂。增加了一个主工作平面内冗余自由度、一个腰部转动自由度和一个小臂伸缩自由度,很大程度上扩大了机器人的操作空间,增加了排爆操作的精确性,提高了排爆操作的效率,并使得机器人作业范围和柔性大为增强,并得出了该机械臂三维工作空间。
系统阐述了排爆机器人的安全性能。提出了提高机械臂操作安全性能的有效方法之一就是实现机械臂的受控联动。创新性地简化了六自由度机械臂运动学模型,将三臂联动功能引入排爆作业,增加了操作安全性和效率,并推导出了联动方程。基于多传感器融合,特别是腕力传感器的融合,提出了机器人的防倾覆设计。另外,结合机器人两轮编码器数据和超声波传感器数据,根据ICP算法,推导出了排爆机器人在通讯意外中断时可采取的回撤路径算法。专门针对爆炸物抓取设计了一个包括柔力夹紧机构、强力固定机构和安全合抱机构在内的气动驱动手爪,其少自由度和高抓取性能的特点使得爆炸物抓取更为安全而有效。
分析了微控制器在排爆机器人上的应用,包括PLC、单片机、ARM嵌入式和DSP等,通过与工业机器人控制系统的比较,需要将排爆机器人传感系统的研究重点放在其有限软硬件资源上。从遥操作机器人必须要将周围的环境信息实时传达给远地操作者的特点,分析了排爆机器人的传感器接口。为解决环境信息的实时传递,本文以VC++和OpenGL为工具,创新性地将虚拟现实技术中的视觉临场感和力觉临场感引入排爆机器人系统,通过各种传感器将远地排爆机器人与环境的交互信息实时地反馈到本地操作者处,生成和远地环境一致的虚拟环境,使操作者产生身临其境的感受,从而实现对机器人灵活的控制,完成作业任务。
通过搭建排爆操作的坐标系框架,研究了操作者通过观察一个或多个视频画面操作主手来控制从手,将从手期望的运动变换到主手上需要的运动所必然经历的视频画面在心理上变换(比如旋转、平移、缩放、变形)所引起的心理负载。通过构建合理的人机接口来使这些心理的负载更少,以减少操作者的训练时间、提高完成任务的表现、扩充操作者人才库。
EOD robot is the most typical robot of the teleoperation robot. This research paper is supported by National 863 Projects“EOD Robot Research”,“Fire Reconnaissance Robot Research”and the National Natural Science Foundation Project (Teleoperation Performance Research). From the system perspective, this paper analysed and studied the major impact factors of EOD robot teleoperation performance. From feedbacks of EOD robot users, current EOD robot performance is far away from the actual demand, mainly manifested in the poor safety in operation, low efficiency and high level of operator tension. This paper is focused on it and will help to give a guide to EOD robots design.
This paper started from semi-autonomous bomb fetching of EOD robot. Based on the analysis of EOD operation’s bottleneck, which is how a operator can fetch bombs by watching the two-dimensional video images, a new method for locating explosives was innovatively given by the author, which was based on laser ranging environmental modeling and bomb positioning. The intelligent A* search algorithm was used to achieve a manned autonomous bomb fetching. In addition, we tried to use binocular stereo vision to obtain explosives positioning. But experiment results show that the binocular vision positioning has great errors due to the mobile character of EOD robot and the lack of precision of the mobile manipulator. Therefore, its application has a lot of restrictions. Finally, we come to an important concept, EOD robot teleoperation performance. How to improve the performance from the system view is the main task of next chapter.
The concept of EOD robot teleoperation performance was brought out and the elements which affect the EOD robot teleoperation performance were analysed. In the performance and functions of teleoperation robot, people require that they can do more difficult jobs in more complex and unstructured environments. Each of the 6 key Class I performance elements of EOD robot teleoperation is the sum of several Class II performance elements. These Class II performance elements could affect other Class I performance elements. All these performance elements give clues about how to improve the teleoperation performance of EOD robot. By evaluating the performance of robot system, it will be clearer to know the relationship between the volume and the essence. It will help to find out the root reason and to accelerate the teleoperation robot technology and to improve the teleoperation performance. According to different uses, EOD robot is devided into three types. For each type, the weight coefficients are given both for Class I and Class II performance elements. A example based on a reconnaissance EOD robot was given.
This paper took a proposal decision-making for EOD robot mobile carriers. By AHP, a most appropriate form of mobile carrier was selected for SUPER-II EOD robot from the 5 types: wheeled style, tracked style, joints style, joints-wheeled style and joints-tracked. After the analysis the Limitations of traditional 3-joint EOD robot, a 6-DOF manipulator was designed. A redundant DOF inside main working plane, a waist rotational DOF and a forearm transportation DOF were added, which expanded robot operation to a much larger space, increased the accuracy of EOD operation, improved efficiency of EOD operation and greatly enhanced the robot operation scope and flexibility. The 3D working envelope was given for the 6-DOF EOD manipulator.
The safety characters are discussed. One efficient way to improve the manipulator’s safety perfoamance is to make the joints of the manipulator move with cooperation. The kinematics of the 6-DOF EOD manipulator is simplified by a new way. Consequently, the three-arm cooperation movement concept is applied into EOD robot, which greatly increased the operational safety and efficiency. And the cooperation movement equations were deduced. Based on mutle-sensors fusion, especially wrist force sensor’s fusion, the anti-rollover of the robot and submissive control of the manipulaotor are realized. By combining robot encoder data with ultrasonic sensors data and using ICP algorithm, we deduced a retracement path algorithm in case of unexpected communication disruption. A compressed air based paw was designed especially for the EOD robot. It has a gentle clamping machine, a strong clamping machine and a safe holding machine. Its few DOFs and high fetching performance make the bomb fetching more safe and efficient.
The applications of MCU on EOD robot are analysed, including PLC, single-chip controller, ARM embedded system and DSP. By Comparing with the control system of an industrial robot, the EOD robot sensing system should be emphasized on the limited software and hardware resources of EOD robot. From characteristics of teleoperation robot to transfer the the surrounding environment information to distant operator in real-time, the paper analysed the sensor interface of EOD robot. Using VC++ and OpenGL as a tool, we innovatively brought visual telepresence and force telepresence of virtual reality to EOD robot system. Through a variety of sensors the remote EOD robot’s interaction information with the environment will be presented to the local operator in real-time, which generates the same virtual environment with the remote environment. Therefore, it allows operators to have a realistic feeling to achieve flexible control of the robot to complete their tasks.
By structuring the coordinate system framework of EOD operation, the mental load of the operator was studied, which was inevitably caused by the psychological transformation of video graph (such as rotation, translation, scaling, deformation) when the operator drives the master robot to operate the slave robot by watching one or more video screens. The target is to construct a reasonable man-machine interface to make these mental load less and to reduce operator training time and improve the performance of operation, expand the pool of operators.
从排爆机器人半自主爆炸物抓取研究入手,在分析了排爆作业的瓶颈在于如何克服二维图像无法正确指导操作者操作机械臂抓取爆炸物后,作者创新性的提出了基于激光测距的环境建模和爆炸物定位方法,利用智能搜索A*算法,实现了爆炸物的半自主抓取。另外,作者试图通过双目立体视觉来定位爆炸物,但结果表明,由于排爆机器人的移动性、机械臂的不够精确性等原因双目视觉得到的爆炸物位置数据有很大误差,其应用受到了限制。在从半自主抓取爆炸物这个局部研究的基础上展开,引出了下一章的内容,从系统的角度全面考虑排爆机器人遥操作性能。
提出了排爆机器人遥操作性能的概念,并分析了体现遥操作性能的性能指标。在遥操作机器人的性能和功能基础上,人们对其提出了更高的标准,要求其能在更复杂和非结构化的环境下完成更难的工作。影响排爆机器人遥操作性能的6个一级性能指标,每一个都为多个二级性能指标的加权和,找出影响性能的根本原因,提高排爆机器人的整体遥操作性能。这些性能指标的提出为如何提高排爆机器人的遥操作性能指明了方向,并进行了量化分析。根据用途的不同,对排爆机器人进行了分类,给出了每一类对应的两级性能指标的权重参数,并以侦察型排爆机器人为例加以说明。
采用层次分析法,从轮式、履带式、关节式、“关节-轮”式、“关节-履带”式五种机构中为排爆机器人SUPER-Ⅱ的移动载体选择了一种最优机构形式。分析了传统三自由度排爆机械臂的局限性,设计出了六冗余自由度机械臂。增加了一个主工作平面内冗余自由度、一个腰部转动自由度和一个小臂伸缩自由度,很大程度上扩大了机器人的操作空间,增加了排爆操作的精确性,提高了排爆操作的效率,并使得机器人作业范围和柔性大为增强,并得出了该机械臂三维工作空间。
系统阐述了排爆机器人的安全性能。提出了提高机械臂操作安全性能的有效方法之一就是实现机械臂的受控联动。创新性地简化了六自由度机械臂运动学模型,将三臂联动功能引入排爆作业,增加了操作安全性和效率,并推导出了联动方程。基于多传感器融合,特别是腕力传感器的融合,提出了机器人的防倾覆设计。另外,结合机器人两轮编码器数据和超声波传感器数据,根据ICP算法,推导出了排爆机器人在通讯意外中断时可采取的回撤路径算法。专门针对爆炸物抓取设计了一个包括柔力夹紧机构、强力固定机构和安全合抱机构在内的气动驱动手爪,其少自由度和高抓取性能的特点使得爆炸物抓取更为安全而有效。
分析了微控制器在排爆机器人上的应用,包括PLC、单片机、ARM嵌入式和DSP等,通过与工业机器人控制系统的比较,需要将排爆机器人传感系统的研究重点放在其有限软硬件资源上。从遥操作机器人必须要将周围的环境信息实时传达给远地操作者的特点,分析了排爆机器人的传感器接口。为解决环境信息的实时传递,本文以VC++和OpenGL为工具,创新性地将虚拟现实技术中的视觉临场感和力觉临场感引入排爆机器人系统,通过各种传感器将远地排爆机器人与环境的交互信息实时地反馈到本地操作者处,生成和远地环境一致的虚拟环境,使操作者产生身临其境的感受,从而实现对机器人灵活的控制,完成作业任务。
通过搭建排爆操作的坐标系框架,研究了操作者通过观察一个或多个视频画面操作主手来控制从手,将从手期望的运动变换到主手上需要的运动所必然经历的视频画面在心理上变换(比如旋转、平移、缩放、变形)所引起的心理负载。通过构建合理的人机接口来使这些心理的负载更少,以减少操作者的训练时间、提高完成任务的表现、扩充操作者人才库。
EOD robot is the most typical robot of the teleoperation robot. This research paper is supported by National 863 Projects“EOD Robot Research”,“Fire Reconnaissance Robot Research”and the National Natural Science Foundation Project (Teleoperation Performance Research). From the system perspective, this paper analysed and studied the major impact factors of EOD robot teleoperation performance. From feedbacks of EOD robot users, current EOD robot performance is far away from the actual demand, mainly manifested in the poor safety in operation, low efficiency and high level of operator tension. This paper is focused on it and will help to give a guide to EOD robots design.
This paper started from semi-autonomous bomb fetching of EOD robot. Based on the analysis of EOD operation’s bottleneck, which is how a operator can fetch bombs by watching the two-dimensional video images, a new method for locating explosives was innovatively given by the author, which was based on laser ranging environmental modeling and bomb positioning. The intelligent A* search algorithm was used to achieve a manned autonomous bomb fetching. In addition, we tried to use binocular stereo vision to obtain explosives positioning. But experiment results show that the binocular vision positioning has great errors due to the mobile character of EOD robot and the lack of precision of the mobile manipulator. Therefore, its application has a lot of restrictions. Finally, we come to an important concept, EOD robot teleoperation performance. How to improve the performance from the system view is the main task of next chapter.
The concept of EOD robot teleoperation performance was brought out and the elements which affect the EOD robot teleoperation performance were analysed. In the performance and functions of teleoperation robot, people require that they can do more difficult jobs in more complex and unstructured environments. Each of the 6 key Class I performance elements of EOD robot teleoperation is the sum of several Class II performance elements. These Class II performance elements could affect other Class I performance elements. All these performance elements give clues about how to improve the teleoperation performance of EOD robot. By evaluating the performance of robot system, it will be clearer to know the relationship between the volume and the essence. It will help to find out the root reason and to accelerate the teleoperation robot technology and to improve the teleoperation performance. According to different uses, EOD robot is devided into three types. For each type, the weight coefficients are given both for Class I and Class II performance elements. A example based on a reconnaissance EOD robot was given.
This paper took a proposal decision-making for EOD robot mobile carriers. By AHP, a most appropriate form of mobile carrier was selected for SUPER-II EOD robot from the 5 types: wheeled style, tracked style, joints style, joints-wheeled style and joints-tracked. After the analysis the Limitations of traditional 3-joint EOD robot, a 6-DOF manipulator was designed. A redundant DOF inside main working plane, a waist rotational DOF and a forearm transportation DOF were added, which expanded robot operation to a much larger space, increased the accuracy of EOD operation, improved efficiency of EOD operation and greatly enhanced the robot operation scope and flexibility. The 3D working envelope was given for the 6-DOF EOD manipulator.
The safety characters are discussed. One efficient way to improve the manipulator’s safety perfoamance is to make the joints of the manipulator move with cooperation. The kinematics of the 6-DOF EOD manipulator is simplified by a new way. Consequently, the three-arm cooperation movement concept is applied into EOD robot, which greatly increased the operational safety and efficiency. And the cooperation movement equations were deduced. Based on mutle-sensors fusion, especially wrist force sensor’s fusion, the anti-rollover of the robot and submissive control of the manipulaotor are realized. By combining robot encoder data with ultrasonic sensors data and using ICP algorithm, we deduced a retracement path algorithm in case of unexpected communication disruption. A compressed air based paw was designed especially for the EOD robot. It has a gentle clamping machine, a strong clamping machine and a safe holding machine. Its few DOFs and high fetching performance make the bomb fetching more safe and efficient.
The applications of MCU on EOD robot are analysed, including PLC, single-chip controller, ARM embedded system and DSP. By Comparing with the control system of an industrial robot, the EOD robot sensing system should be emphasized on the limited software and hardware resources of EOD robot. From characteristics of teleoperation robot to transfer the the surrounding environment information to distant operator in real-time, the paper analysed the sensor interface of EOD robot. Using VC++ and OpenGL as a tool, we innovatively brought visual telepresence and force telepresence of virtual reality to EOD robot system. Through a variety of sensors the remote EOD robot’s interaction information with the environment will be presented to the local operator in real-time, which generates the same virtual environment with the remote environment. Therefore, it allows operators to have a realistic feeling to achieve flexible control of the robot to complete their tasks.
By structuring the coordinate system framework of EOD operation, the mental load of the operator was studied, which was inevitably caused by the psychological transformation of video graph (such as rotation, translation, scaling, deformation) when the operator drives the master robot to operate the slave robot by watching one or more video screens. The target is to construct a reasonable man-machine interface to make these mental load less and to reduce operator training time and improve the performance of operation, expand the pool of operators.
引文
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