基于虚拟现实的机器人遥操作系统设计
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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。
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.
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。
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.
引文
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[2] Tang, Z. Realize Virtual Reality[J]. Huazhong Jianzhu - HJ/Huazhong Architecture, 2001, 19(4): 105-110
[3] Harrold, Dave.Virtual Reality[J]. Control Engineering, 2000, 47(11): 4-11
[4] Morie, Jacquelyn Ford. Virtual reality, immersion and the unforgettable experience [J]. Proceedings of SPIE - The International Society for Optical Engineering, 2006, 60(5): 101-120
[5] 刘贤梅, 李勤, 等. 虚拟现实技术及其应用[J]. 大庆石油学院学报, 2002, 26 (2): 112-115
[6] Yamada, H. Construction tele-robotic system with virtual reality (CG presentation of virtual robot and task object using stereo vision system) [J]. Control and Intelligent Systems, 2007, 35(3): 195-201
[7] 熊友军. 基于增强现实的遥操作关键技术研究: [工学博士学位论文]. 武汉:华中科技大学, 2005
[8] T.B.Sheridan. Space teleoperation through time delay:review and prognosis[J]. IEEE Transaction on Robotics and Automation. 1993, 9(5): 592-606
[9] MonferrerA, BonyuetD. Cooperative robot teleportation through virtual reality interfaces [A]. Proceedings of the Sixth International Conference on Information Visualizations (IV.02) [C], 2002: 243-248
[10] Earnshaw R A, et al, Virtual Reality System Academic Press, 2003
[11] 韦有双, 杨湘龙, 王飞. 虚拟现实与系统仿真. 北京: 国防工业出版社, 2004.2
[12] 李磊, 叶涛, 谭民. 移动机器人技术研究现状与未来[J]. 机器人, 2002, 24 (5): 475-480
[13] 李丽荣, 陆宇平, 王彦民. 虚拟现实技术在军事上的应用[J]. 飞机设计, 2005, 9: 49-53
[14] Geoffrey A. Landis. Teleoperation from Mars orbit: A proposal for human exploration [J]. International Astronautical Federation Congress, 2004, 4(8): 1-7
[15] 王跃虎. 基于虚拟现实的遥操作机器人研究: [工学硕士学位论文]. 天津: 河北工业大学,2006
[16] 栾昌海, 王盟, 燕爱华. 基于虚拟现实的 Internet 机器人网络控制研究[J]. 嵌入式与单片机, 2006, 4: 39-41
[17] WangXiao-Gang, M.MoallemR.V.Patel. An Internet-Based Distributed Multiple-Telerobot System. IEEE 2003: 627-633
[18] John N. Latta, David J.Oberg. A Conceptual Virtual Reality Model. IEEE Computer Graphics&Applications, 1994, 1: 121-124
[19] R.S.ylett, C.Delgado, J. H. Serna ,et al. desk-top Virtual Reality for future command and control. Virtual Reality. 2005, 8: 131-146
[20] PhilipN.Day, Cus Ferguson, Patrik O'Brian Holt et al. Wearable augmented virtual reality for enhancing information delivery in high precision defence assembly: an engineering case study. Virtual Reality. 2005, 8: 177-184
[21] 禹海全, 郝永生, 马剑. 一种基于虚拟现实技术的导弹模拟训练系统[J]. 系统仿真学报, 2006, 18(4):921-923
[22] Ji-Young Oh, Wolfgang Stuerzlinger. A system for desktop conceptual 3D design. Virtual Reality. 2004, 7: 198-211
[23] Siam Charoenseang. A PC-based virtual reality system for dual- arm humanoid robot control [Dissertation]. UMI Microform 9944551,1999
[24] 李焱, 吴涛, 贺汉根. 应用虚拟现实的遥操作机器人技术[J]. 国防科技大学学报, 2001, 23(5):108-111
[25] Lv Xiaoling, Zhang Minglu, Cui Feng et al. Teleoperation of Robot Based on Virtual Reality. ICAT 2006: 400-403
[26] Sonali.Morar, Robert D.Macredie. Special issue on Interacting with desktop virtual environments: Perception and navigation. Virtual Reality. 2004, 7: 129-130
[27] 徐志晖, 陆宇平. 无线局域网在移动机器人远程控制中的应用[J]. 信息技术, 2004, 28(12: 7-9
[28] Jonietz, Christof. Transmission and reception concepts for WLAN IEEE 802.11b [J]. IEEE Transactions on Wireless Communications, 2006, 5(12): 3375-3381
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