本文選題：移動(dòng)機(jī)器人 + 目標(biāo)識(shí)別��； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著機(jī)器視覺和機(jī)器人控制技術(shù)的快速發(fā)展,越來越多的機(jī)器人應(yīng)用到航天、深海以及核電站等極限作業(yè)環(huán)境中。當(dāng)核電站受到外界因素的影響導(dǎo)致核泄漏時(shí),將對人類的生存環(huán)境帶來災(zāi)難性的影響,而進(jìn)行救災(zāi)作業(yè)也會(huì)對救援人員的健康造成傷害,因此,具備移動(dòng)作業(yè)能力的機(jī)器人成為核電站救災(zāi)作業(yè)的急需裝備。利用機(jī)器人打開防火門的門鎖是核電站救災(zāi)作業(yè)中十分重要,也是難度較大的一項(xiàng)任務(wù)。本文通過對開鎖作業(yè)過程以及視覺定位誤差的分析,研制了一款具備較高柔順性能的開鎖末端執(zhí)行器,并對其中的一些關(guān)鍵技術(shù)進(jìn)行了深入研究。通過對開鎖作業(yè)的任務(wù)需求進(jìn)行深入分析,明確了末端執(zhí)行器需實(shí)現(xiàn)的功能,基于鑰匙插入鎖孔過程的相關(guān)約束分析,建立了趨向鑰匙與鎖孔配合目標(biāo)的行為運(yùn)動(dòng)學(xué)模型,進(jìn)而給出了參數(shù)化的定位抓持捕獲區(qū)域的計(jì)算方法,通過對不同的鑰匙插入工況進(jìn)行分析,得到了相應(yīng)的容差范圍,確定抓持過程中末端執(zhí)行器所需要的柔順參數(shù),為末端執(zhí)行器的設(shè)計(jì)提供了理論依據(jù)。為實(shí)現(xiàn)核電站條件下視覺引導(dǎo)的自動(dòng)開鎖任務(wù),開展了機(jī)器視覺有限分辨率條件下對目標(biāo)圖像的識(shí)別方法研究,應(yīng)用HOG-SVM方法實(shí)現(xiàn)了鎖孔以及門把手等目標(biāo)的識(shí)別,并在此基礎(chǔ)上提出一種融合目標(biāo)物理特征的識(shí)別方法,提高了對目標(biāo)鎖孔識(shí)別的準(zhǔn)確率。在鎖孔的識(shí)別返回的目標(biāo)圖像基礎(chǔ)上進(jìn)行動(dòng)態(tài)跟蹤研究,針對傳統(tǒng)的Meanshift跟蹤方法的不足,提出了一種融合最大穩(wěn)定極值區(qū)域特征的目標(biāo)跟蹤方法,降低了跟蹤均值誤差,對動(dòng)態(tài)跟蹤獲得的最終目標(biāo)鎖孔圖像進(jìn)行了定位及方向的判別,并與激光跟蹤儀測量得到的位置數(shù)據(jù)進(jìn)行比較,對視覺定位誤差值進(jìn)行了評估�；陂_鎖過程柔順參數(shù)和視覺定位誤差,提出了具備較高柔順性能的欠驅(qū)動(dòng)自適應(yīng)開鎖末端執(zhí)行器總體設(shè)計(jì)方案,并通過仿真軟件對重要部件進(jìn)行了拓?fù)鋬?yōu)化。在對開鎖作業(yè)仿真分析后,搭建了開鎖試驗(yàn)平臺(tái),在力學(xué)測試評估基礎(chǔ)上,提出了自動(dòng)開鎖策略,并對開鎖末端執(zhí)行器進(jìn)行了綜合測試,結(jié)果表明,開鎖末端執(zhí)行器能夠在允許容差范圍內(nèi),完成開鎖任務(wù)。
[Abstract]:With the rapid development of machine vision and robot control technology, more and more robots are applied to space, deep sea and nuclear power plant. When a nuclear power plant is affected by external factors, it will cause a catastrophic impact on the human living environment, and disaster relief operations will also cause harm to the health of rescue workers. The robot with mobile operation ability becomes the urgent equipment of the nuclear power station disaster relief operation. It is very important and difficult to use robot to open the door lock of fire proof door in the disaster relief operation of nuclear power station. Based on the analysis of the process of unlocking and the error of visual positioning, a kind of terminal actuator with high compliance performance is developed in this paper, and some key technologies are deeply studied. Through the thorough analysis of the task requirement of the unlocking operation, the function of the terminal actuator is clarified. Based on the analysis of the relevant constraints in the keyhole insertion process, the behavioral kinematics model of the orientation key and the keyhole matching target is established. Then a parameterized calculation method of the capture area is given. By analyzing the different key insertion conditions, the corresponding tolerance range is obtained, and the compliance parameters of the terminal actuator in the grasping process are determined. It provides a theoretical basis for the design of the end actuator. In order to realize the task of automatically unlocking under the condition of nuclear power plant vision, the recognition method of target image under the condition of finite resolution of machine vision is studied, and the recognition of keyhole and doorknob is realized by using HOG-SVM method. On the basis of this, a method of fusion target physical feature recognition is proposed, which improves the accuracy of target keyhole recognition. Based on the target image from the keyhole recognition and return, the dynamic tracking method is studied. Aiming at the shortcomings of the traditional Meanshift tracking method, a target tracking method combining the maximum stable region feature is proposed, which reduces the mean error of tracking. Finally, the location and orientation of the final target keyhole image obtained by dynamic tracking are analyzed and compared with the position data measured by laser tracker, and the visual positioning error is evaluated. Based on the compliance parameters of the unlocking process and the visual positioning error, the overall design scheme of the underactuated adaptive unlocking end actuator with high compliance performance is proposed, and the topology optimization of the important components is carried out through the simulation software. After the simulation analysis of the unlocking operation, the open lock test platform is built. Based on the mechanical test and evaluation, the automatic unlock strategy is put forward, and the comprehensive test of the open locking end actuator is carried out. The results show that, The unlocking end actuator can complete the unlocking task within the allowable tolerance.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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本文編號(hào)：1956592