反恐排爆机器人遥操作及其智能辅助系统设计
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摘要
自911以来,应用于爆炸物检测、排除和处理的排爆机器人已成为减少人员伤亡、保障社会安定的重要装备。本论文面向复杂环境中遥操作排爆作业,设计了底层控制硬件和软件系统,实现了移动载体和机械臂的遥操作控制。针对遥操作排爆机器人智能化程度低及自主控制功能不足等问题,研究了移动载体的自主行走及机械臂轨迹控制中的能耗优化问题。本论文的研究丰富了排爆作业的局部自主控制功能,具有重要的研究意义和应用价值。
论文针对周围存在障碍物等复杂排爆环境,研究了中型排爆机械手的多模式遥操作装置和方法,设计了排爆作业的单轴运动、姿态调整、多轴轨迹联动等三种遥操作模式,推导了不同模式下机械臂运动学方程并编程实现;设计了排爆机器人底层控制实时软件,采用WINCE控制平台,利用Embedded Visaul C++语言实现了数据通信、底层控制控制、无线网络通讯等多种功能,并通过试验验证了控制系统的有效性和可靠性。针对移动载体在狭窄空间行走作业中临场感差,操作性能不足等问题,本文面向走廊式窄道设计了一种基于激光雷达的智能行走辅助系统,操作人员只需下达前进、后退、转弯等命令,智能辅助行走系统可实现移动载体的自主行走且不与环境发生碰撞;论文针对排爆机器人作业任务繁多且能源有限的现状,开展了平面冗余度机械臂轨迹控制中能量消耗最小化的研究,结合ADAMS和MATLAB的联合仿真与模式搜索法,编制了能量优化算法,通过计算机仿真验证了该算法的有效性。
经试验验证,本论文研制的反恐排爆机器人系统的下位机层控制和智能辅助系统,可高效可靠地完成反恐作业队伍中的排爆任务,提高了排爆作业的适用范围和智能化水平,达到了设计要求。
Since 911, the explosive ordnance disposal (EOD) robot that is applied to detect, remove and dispose explosives has become the important equipment that could reduce casualties and safeguard social stability. In this paper, a bottom control hardware and software system is designed for tele-robot EOD operation facing complex environment, and it realize remote control operation of the mobile carrier and mechanical arm. Problems of independent walking of mobile carrier and energy optimization during controlling mechanical arm track are studied, which aims at the low level of intelligence of the EOD robot and its lack of autonomous control function. The researches in this paper rich the local autonomous control of eod operation, which has important significance and application value.
To the complex environment with lots of obstacles around multi-mode device and method of the planar medium-sized manipulator are researched in this paper. The EOD robot in this paper contains three kinds of control modes: single-axis movement, multi-axis movement with the attitude adjustment, multi-axis movement in a straight line. The real-time control software for the lower machine is designed in this paper. In the WINCE platform, the functions such as data communications, the underlying position control, wireless network communication and so on are realized through Embedded Visual C++. The validity and reliability of the control system are verified by experiment. With the poor telepresence of the mobile carrier walking in the narrow space and its inadequate operation performance, in this paper, a intelligent moving support system based on radar which makes mobile carrier walk independently without collision with the only help of the commands from operator such as forward, backward, turning and so on is designed. Because the EOD robot takes lots of task and its energy is limited, in the paper, a research for minimizing energy consumption is studied, and it combines co-simulation of ADAMS and MATLAB with pattern search method which is proved effective through computer simulation.
By experiments, the lower control system and intelligent auxiliary system of the EOD robot designed in the paper can complete EOD task effectively and reliably and improve the scope of application and intelligence level of the EOD operation, which meets the design requirements.
论文针对周围存在障碍物等复杂排爆环境,研究了中型排爆机械手的多模式遥操作装置和方法,设计了排爆作业的单轴运动、姿态调整、多轴轨迹联动等三种遥操作模式,推导了不同模式下机械臂运动学方程并编程实现;设计了排爆机器人底层控制实时软件,采用WINCE控制平台,利用Embedded Visaul C++语言实现了数据通信、底层控制控制、无线网络通讯等多种功能,并通过试验验证了控制系统的有效性和可靠性。针对移动载体在狭窄空间行走作业中临场感差,操作性能不足等问题,本文面向走廊式窄道设计了一种基于激光雷达的智能行走辅助系统,操作人员只需下达前进、后退、转弯等命令,智能辅助行走系统可实现移动载体的自主行走且不与环境发生碰撞;论文针对排爆机器人作业任务繁多且能源有限的现状,开展了平面冗余度机械臂轨迹控制中能量消耗最小化的研究,结合ADAMS和MATLAB的联合仿真与模式搜索法,编制了能量优化算法,通过计算机仿真验证了该算法的有效性。
经试验验证,本论文研制的反恐排爆机器人系统的下位机层控制和智能辅助系统,可高效可靠地完成反恐作业队伍中的排爆任务,提高了排爆作业的适用范围和智能化水平,达到了设计要求。
Since 911, the explosive ordnance disposal (EOD) robot that is applied to detect, remove and dispose explosives has become the important equipment that could reduce casualties and safeguard social stability. In this paper, a bottom control hardware and software system is designed for tele-robot EOD operation facing complex environment, and it realize remote control operation of the mobile carrier and mechanical arm. Problems of independent walking of mobile carrier and energy optimization during controlling mechanical arm track are studied, which aims at the low level of intelligence of the EOD robot and its lack of autonomous control function. The researches in this paper rich the local autonomous control of eod operation, which has important significance and application value.
To the complex environment with lots of obstacles around multi-mode device and method of the planar medium-sized manipulator are researched in this paper. The EOD robot in this paper contains three kinds of control modes: single-axis movement, multi-axis movement with the attitude adjustment, multi-axis movement in a straight line. The real-time control software for the lower machine is designed in this paper. In the WINCE platform, the functions such as data communications, the underlying position control, wireless network communication and so on are realized through Embedded Visual C++. The validity and reliability of the control system are verified by experiment. With the poor telepresence of the mobile carrier walking in the narrow space and its inadequate operation performance, in this paper, a intelligent moving support system based on radar which makes mobile carrier walk independently without collision with the only help of the commands from operator such as forward, backward, turning and so on is designed. Because the EOD robot takes lots of task and its energy is limited, in the paper, a research for minimizing energy consumption is studied, and it combines co-simulation of ADAMS and MATLAB with pattern search method which is proved effective through computer simulation.
By experiments, the lower control system and intelligent auxiliary system of the EOD robot designed in the paper can complete EOD task effectively and reliably and improve the scope of application and intelligence level of the EOD operation, which meets the design requirements.
引文
[1]李建华.大型反恐排爆机器人底层控制系统设计[D].上海:上海交通大学. 2010
[2]吴繁.大型排爆机器人的远程控制系统设计[D].上海:上海交通大学. 2010
[3]万志成.六自由度排爆机械臂控制系统设计[D].上海:上海交通大学. 2008
[4]陶俊.大型排爆机械手机械系统设计与操作算法研究[D].上海:上海交通大学. 2008
[5]徐一峰.地面移动机器人遥操作系统分析及相关技术研究[D].南京:南京理工大学. 2006
[6]刘琦.排爆机器人无线数据通讯与监控平台的研究[D].上海:上海交通大学. 2008
[7]乔凤斌.排爆机器人移动载体设计及其地面适应性研究[D].上海:上海交通大学. 2004
[8]韩晓明.反恐排爆机器人机械手的设计和控制[D].上海:上海交通大学. 2005
[9]刘淼.基于PLC的排爆机器人控制系统的设计与实现[D].上海:上海交通大学. 2004
[10]李劲魁.基于ARM9的排爆机器人远程控制系统设计与实现[D].大连:大连理工大学. 2008
[11]施建刚.反恐排爆机器人移动载体系统的设计与研究[D].上海:上海交通大学. 2005
[12]王星,向立莉,梁杰申.排爆机器人中的通信实现[J].微计算机信息. 2007, 23(11):270-272.
[13]莫海军,吴少炜.排爆机器人及相关技术[J].机器人技术与应用. 2005, 4: 31-36.
[14]乔凤斌,杨汝清.基于IPC-PLC的排爆机器人控制系统设计[J].计算机工程与应用. 2004, 40(22): 22-24.
[15]宁柯军,杨汝清,翁新华.基于RTX51的排爆机器人嵌入式控制器固件开发[J].电子技术应用. 2005, 31(3) :17-20.
[16] J. Borenstein, Y. Koren, Real time obstacle avoidance for fast mobile robots in cluttered environments, In Proc. IEEE Conf. Robotics and Automation, pages 572-577, 1990.
[17] Sukhan Lee, Hahk Sung Lee., Advanced telemanipulation under time delay, In SPIEOE/Technology’92: Telemanipulator Technology, volume 1833-1992.
[18] Chuxin Chen, Mohan M. Trivedi, Reactive Locomotion Control of Articulated-Tracked Mobile Robots for Obstacle Negotiation, Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1993:1349-1356
[19] John D. Martens, Wyatt S. Newman, Stabiliztion of a mobile robot climbing stairs, In Proceedings IEEE International Conference on Robotics, volume 3, kpages 2501-2507, 1994
[20] R.A. Brooks, A Robust Layered Control System for a Mobile Robot, IEEE Journal of Robotics and Automation, 1998.
[21] R.A. Brooks, Intelligence without Representation. Artificial Intelligence, Vol. 47, 1991, pp.139-159.
[22]蔡自兴.机器人学.清华大学出版社[M]. 2000. 09
[23]杨汝清,张伟军.机电控制技术[M].北京:科学出版社. 2009.
[24]朱世强,王宣银.机器人技术及其应用[M].浙江大学出版社. 2001
[25]王永华.现代编程及可编程控制技术[M].北京航空航天大学出版社. 2000
[26]田东风. Windows CE应用程序设计[M].机械工业出版社. 2005. 09
[27] Douglas Boling. Windows CE程序设计[M].北京大学出版社. 1999. 08
[28]张冬泉,谭南林,王雪梅,焦风川. Windows CE实用开发技术[M].电子工业版社. 2006.04
[29] Weijun Zhang, Jianjun Yuan, Qiang Li, Zhixia Tang. An Automatic Collision Avoidance Approach for Remote Control of Redundant Manipulator, In Proceedings of the 2008 IEEE International Conference on Information and Automation, June 20-23, 2008, Zhangjiajie, China.
[30] Weijun Zhang, Jianjun Yuan, Jianhua Li. The Optimization Scheme for EOD Robot Based On Supervising Control Architecture, In Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics, Feb 21- 26, 2009
[31]孙鑫,余安萍. VC++深入详解[M].电子工业出版社. 2006. 06
[32]候俊杰.深入浅出MFC(第2版)[M].华中科技大学出版社. 2001. 01
[33]殷翔,董正筑,王继燕. ADAMS和Matlab交互仿真的机械臂定位控制[J].长春工业大学学报(自然科学版), 2005, 26(4): 332-334.
[34]马如奇,郝双晖,郑伟峰,宋宝玉.基于MATLAB与ADAMS的机械臂联合仿真研究[J].机械设计与制造, 2010, 4(4): 93-95.
[35]郑建荣. ADAMS虚拟样机技术入门与提高[M].北京:机械工业出版社, 2002.
[36]陈文华,贺青川,张旦闻. ADAMS2007机构设计与分析范例[M].北京:机械工业出版社, 2009.
[37]赵丽娟,李世旭,刘杰.基于Pro/E与ADAMS协同仿真中的图形数据交换[J].机械与电子, 2006(20): 78-80.
[38]丁佳洛,战强.基于ADAMS的串联机器人运动学反解与动力学优化[J].机电产品开发与创新, 2008, 21(1): 9-11.
[39] (美)尼库(Niku, S. B)著;孙富春等译.机器人学导论—分析、系统及应用[M].电子工业出版社, 2004.
[40]陈宝林.最优化理论与算法[M].清华大学出版社. 2005, 415-430.
[2]吴繁.大型排爆机器人的远程控制系统设计[D].上海:上海交通大学. 2010
[3]万志成.六自由度排爆机械臂控制系统设计[D].上海:上海交通大学. 2008
[4]陶俊.大型排爆机械手机械系统设计与操作算法研究[D].上海:上海交通大学. 2008
[5]徐一峰.地面移动机器人遥操作系统分析及相关技术研究[D].南京:南京理工大学. 2006
[6]刘琦.排爆机器人无线数据通讯与监控平台的研究[D].上海:上海交通大学. 2008
[7]乔凤斌.排爆机器人移动载体设计及其地面适应性研究[D].上海:上海交通大学. 2004
[8]韩晓明.反恐排爆机器人机械手的设计和控制[D].上海:上海交通大学. 2005
[9]刘淼.基于PLC的排爆机器人控制系统的设计与实现[D].上海:上海交通大学. 2004
[10]李劲魁.基于ARM9的排爆机器人远程控制系统设计与实现[D].大连:大连理工大学. 2008
[11]施建刚.反恐排爆机器人移动载体系统的设计与研究[D].上海:上海交通大学. 2005
[12]王星,向立莉,梁杰申.排爆机器人中的通信实现[J].微计算机信息. 2007, 23(11):270-272.
[13]莫海军,吴少炜.排爆机器人及相关技术[J].机器人技术与应用. 2005, 4: 31-36.
[14]乔凤斌,杨汝清.基于IPC-PLC的排爆机器人控制系统设计[J].计算机工程与应用. 2004, 40(22): 22-24.
[15]宁柯军,杨汝清,翁新华.基于RTX51的排爆机器人嵌入式控制器固件开发[J].电子技术应用. 2005, 31(3) :17-20.
[16] J. Borenstein, Y. Koren, Real time obstacle avoidance for fast mobile robots in cluttered environments, In Proc. IEEE Conf. Robotics and Automation, pages 572-577, 1990.
[17] Sukhan Lee, Hahk Sung Lee., Advanced telemanipulation under time delay, In SPIEOE/Technology’92: Telemanipulator Technology, volume 1833-1992.
[18] Chuxin Chen, Mohan M. Trivedi, Reactive Locomotion Control of Articulated-Tracked Mobile Robots for Obstacle Negotiation, Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1993:1349-1356
[19] John D. Martens, Wyatt S. Newman, Stabiliztion of a mobile robot climbing stairs, In Proceedings IEEE International Conference on Robotics, volume 3, kpages 2501-2507, 1994
[20] R.A. Brooks, A Robust Layered Control System for a Mobile Robot, IEEE Journal of Robotics and Automation, 1998.
[21] R.A. Brooks, Intelligence without Representation. Artificial Intelligence, Vol. 47, 1991, pp.139-159.
[22]蔡自兴.机器人学.清华大学出版社[M]. 2000. 09
[23]杨汝清,张伟军.机电控制技术[M].北京:科学出版社. 2009.
[24]朱世强,王宣银.机器人技术及其应用[M].浙江大学出版社. 2001
[25]王永华.现代编程及可编程控制技术[M].北京航空航天大学出版社. 2000
[26]田东风. Windows CE应用程序设计[M].机械工业出版社. 2005. 09
[27] Douglas Boling. Windows CE程序设计[M].北京大学出版社. 1999. 08
[28]张冬泉,谭南林,王雪梅,焦风川. Windows CE实用开发技术[M].电子工业版社. 2006.04
[29] Weijun Zhang, Jianjun Yuan, Qiang Li, Zhixia Tang. An Automatic Collision Avoidance Approach for Remote Control of Redundant Manipulator, In Proceedings of the 2008 IEEE International Conference on Information and Automation, June 20-23, 2008, Zhangjiajie, China.
[30] Weijun Zhang, Jianjun Yuan, Jianhua Li. The Optimization Scheme for EOD Robot Based On Supervising Control Architecture, In Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics, Feb 21- 26, 2009
[31]孙鑫,余安萍. VC++深入详解[M].电子工业出版社. 2006. 06
[32]候俊杰.深入浅出MFC(第2版)[M].华中科技大学出版社. 2001. 01
[33]殷翔,董正筑,王继燕. ADAMS和Matlab交互仿真的机械臂定位控制[J].长春工业大学学报(自然科学版), 2005, 26(4): 332-334.
[34]马如奇,郝双晖,郑伟峰,宋宝玉.基于MATLAB与ADAMS的机械臂联合仿真研究[J].机械设计与制造, 2010, 4(4): 93-95.
[35]郑建荣. ADAMS虚拟样机技术入门与提高[M].北京:机械工业出版社, 2002.
[36]陈文华,贺青川,张旦闻. ADAMS2007机构设计与分析范例[M].北京:机械工业出版社, 2009.
[37]赵丽娟,李世旭,刘杰.基于Pro/E与ADAMS协同仿真中的图形数据交换[J].机械与电子, 2006(20): 78-80.
[38]丁佳洛,战强.基于ADAMS的串联机器人运动学反解与动力学优化[J].机电产品开发与创新, 2008, 21(1): 9-11.
[39] (美)尼库(Niku, S. B)著;孙富春等译.机器人学导论—分析、系统及应用[M].电子工业出版社, 2004.
[40]陈宝林.最优化理论与算法[M].清华大学出版社. 2005, 415-430.