PATH FOLLOWING GPS-BASED CONTROL OF SMALL-SIZE ROBOTIC UNMANNED BLIMP

Robotic unmanned blimps own an enormous potential for applications in low-speed and low-altitude exploration,surveillance,and monitoring,as well as telecommunication relay platforms. To make lighter-than-air platform a robotic blimp with significant levels of autonomy,the decoupled longitude and latitude dynamic model is developed,and the hardware and software of the flight con-trol system are designed and detailed. Flight control and navigation strategy and algorithms for way-point flight problem are discussed. A result of flight experiment is also presented,which validates that the flight control system is applicable and initial machine intelligence of robotic blimp is achieved.

Human-Robot Interface for Unmanned Aerial Vehicle via a Leap Motion

The unmanned aircraft vehicles industry is in the ascendant while traditional interaction ways for an unmanned aerial vehicle(UAV)are not intuitive enough.It is difficult for a beginner to control a UAV,therefore natural interaction methods are preferred.This paper presents a novel interactive control method for a UAV through operator's gesture,and explores the natural interaction method for the UAV.The proposed system uses the leap motion controller as an input device acquiring the gesture position and orientation data.It is found that the proposed human-robot interface can track the movement of the operator with satisfactory accuracy.The biggest advantage of the proposed method is its capability to control the UAV by just one hand instead of a joystick.A series of experiments verified the feasibility of the proposed human-robot interface.The results demonstrate that non-professional operators can easily operate a remote UAV by just using this system.

Robot Pilot:A New Autonomous System toward Flying Manned Aerial Vehicles

The robot pilot is a new concept of a robot system that pilots a manned aircraft,thereby forming a new type of unmanned aircraft system(UAS)that makes full use of the platform maturity,load capacity,and airworthiness of existing manned aircraft while greatly expanding the operation and application fields of UASs.In this research,the implementation and advantages of the robot pilot concept are discussed in detail,and a helicopter robot pilot is proposed to fly manned helicopters.The robot manipulators are designed according to the handling characteristics of the helicopter-controlling mechanism.Based on a kinematic analysis of the robot manipulators,a direct-driving method is established for the robot flight controller to reduce the time delay and control error of the robot servo process.A supporting ground station is built to realize different flight modes and the functional integration of the robot pilot.Finally,a prototype of the helicopter robot pilot is processed and installed in a helicopter to carry out flight tests.The test results show that the robot pilot can independently fly the helicopter to realize forward flight,backward flight,side flight,and turning flight,which verifies the effectiveness of the helicopter robot pilot.

Telepresence Robots and Controlling Techniques in Healthcare System

In this era of post-COVID-19,humans are psychologically restricted to interact less with other humans.According to the world health organization(WHO),there are many scenarios where human interactions cause severe multiplication of viruses from human to human and spread worldwide.Most healthcare systems shifted to isolation during the pandemic and a very restricted work environment.Investigations were done to overcome the remedy,and the researcher developed different techniques and recommended solutions.Telepresence robot was the solution achieved by all industries to continue their operations but with almost zero physical interaction with other humans.It played a vital role in this perspective to help humans to perform daily routine tasks.Healthcare workers can use telepresence robots to interact with patients who visit the healthcare center for initial diagnosis for better healthcare system performance without direct interaction.The presented paper aims to compare different telepresence robots and their different controlling techniques to perform the needful in the respective scenario of healthcare environments.This paper comprehensively analyzes and reviews the applications of presented techniques to control different telepresence robots.However,our feature-wise analysis also points to specific technical,appropriate,and ethical challenges that remain to be solved.The proposed investigation summarizes the need for further multifaceted research on the design and impact of a telepresence robot for healthcare centers,building on new perceptions during the COVID-19 pandemic.

Intelligent Detection Method of Substation Environmental Targets Based on MD-Yolov7

The complex operating environment in substations, with different safety distances for live equipment, is a typical high-risk working area, and it is crucial to accurately identify the type of live equipment during automated operations. This paper investigates the detection of live equipment under complex backgrounds and noise disturbances, designs a method for expanding lightweight disturbance data by fitting Gaussian stretched positional information with recurrent neural networks and iterative optimization, and proposes an intelligent detection method for MD-Yolov7 substation environmental targets based on fused multilayer feature fusion (MLFF) and detection transformer (DETR). Subsequently, to verify the performance of the proposed method, an experimental test platform was built to carry out performance validation experiments. The results show that the proposed method has significantly improved the performance of the detection accuracy of live devices compared to the pairwise comparison algorithm, with an average mean accuracy (mAP) of 99.2%, which verifies the feasibility and accuracy of the proposed method and has a high application value.

无人驾驶农机避障路径跟踪仿真与验证

【目的】为便于验证无人驾驶农机避障路径跟踪的效果,减少实际无人农机试验次数与消耗,设计一种无人驾驶农机避障路径跟踪仿真验证方法,构建一个仿真验证应用系统。【方法】以无人农机为基础,集成真实复杂地形环境仿真、实际作业农机仿真和路径规划算法植入,构建一个一体化仿真验证应用系统。基于三维SLAM技术,采集环境点云数据,实现农田地形环境仿真建模,构建阿克曼转向机械结构的农机仿真建模,提出一种基于农机动力学约束的TEB局部路径规划算法;在仿真验证应用系统中实现路径规划跟踪及避障,并通过多次测试验证该算法的有效性。【结果】避障路径跟踪有效性对比测试和避障路径跟踪平顺性验证测试结果表明,无人农机行驶过程中可有效动态避障,最短有效避障距离为4.1 m。路径跟踪控制效果良好,障碍物距离大于5.0 m时,可控平均误差≤0.4305 m,均方根误差≤0.3151 m;障碍物距离在4.5~5.0 m时,可控误差均值≤1.3538 m,均方根误差≤1.6126 m。【结论】本文提出的改进TEB算法具有较强的作业能力以及较高的作业精度,满足农业机械导航避障路径跟踪仿真验证的需求,该算法可应用于无人农机在实际农田环境的避障路径跟踪。该应用系统易于扩充,为精准农业中针对各种复杂作业环境的农机运作状态的优化设计研究提供基础。

面向无人作业的天空地协同网络:需求、挑战、技术变革机遇

在偏远、危险地区,机器人可感知环境、智能交互,协同完成复杂任务。以卫星和无人机为主体的天空地协同网络能够为这些机器人提供全域泛在、随遇接入的通信服务。首先,分析无人作业发展趋势和机器人通信需求。基于此,面向机器人通信的特点,建议跳出“信息传输管道”的传统视角,在支持信息传输的同时,关注信息的内容和价值。进一步综合考虑机器人通信中信息生成的动作及其反馈,提出潜在技术变革的切入点。具体地,从结构化通信资源配置、机器人行为调控和感-传-算-控闭环模型三个方面阐述维纳控制论启发的通信范式变革途径。

复杂海洋环境下无人船仿真教学平台设计

针对机器人工程专业在移动机器人控制领域的理论与实践相结合的教学需求,利用机器人操作系统和Gazebo物理仿真引擎以及USVSim仿真平台,开发复杂海洋环境下无人船仿真教学平台。该平台实现了无人船的模型搭建、海洋环境扰动模拟、模型动力学参数辨识以及控制算法验证等功能。通过无人船仿真场景实验,表明了该仿真教学平台的可靠性与有效性,可弥补实验教学的不足,培养学生应对现实工程挑战的能力。

电力巡检机器人移动式无线充电系统分析与验证

为提升变电站的智能化程度,减少巡检成本,采用电力巡检机器人代替人工进行日常巡检。但电力巡检机器人续航能力有限,无法实现全天候巡检,于是使用移动式无线充电的方式进行供电,实现边走边充与二十四小时全天候巡检。本文中首先分析了线圈互感与系统效率之间的关系;接着,针对系统中采用的分段式发射线圈导轨,提出了导轨软切换方式,减小切换过程中的冲击电流,保护了电路元件;最后,通过实验,验证了线圈互感对效率的影响以及导轨软切换方式的可行性与有效性。

面向模块化设计的水下机器人集群编队控制

针对在近海环境下,利用“以机代人”进行自主特种作业的实际需求,设计研发模块化可重构水下机器人,并提出一种基于领航者-虚拟结构的编队策略。首先针对几种不同的典型水下作业任务,依据重构方案设计异构水下机器集群;然后根据水平面三自由度运动学和动力学方程,推导水下机器人集群的动态误差模型;针对路径已知的集群编队问题提出领航者-虚拟结构策略,其中跟随者水下机器人采用基于通信时延补偿的滑模控制器进行跟踪。结果表明,该控制策略可以快速形成队形且轨迹误差小于5%。最后应用3种已开发完成的水下机器人,在可视化仿真平台中进行实验验证,证明该异构水下机器人集群编队方法合理高效。

高压开关柜智能检修机器人关键技术研究

通过调研国内外电力机器人研究现状及发展趋势,以实现电网变电站中高压开关柜的无人化检修功能为目标,研发了一套集运维、试验、应急于一体的智能检修机器人。首先分析了高压开关柜例行检修的作业特征,其次研究了智能检修机器人开发的关键技术,设计了机器人的功能架构、机械结构和智能云管理系统,最后以手车式断路器检修为典型案例,介绍了机器人检修的具体工作模型及执行步骤。

基于线性扩张状态观测器的挖掘机电液系统滑模控制

无人驾驶挖掘机器人实际工作环境恶劣,为提高铲斗在负载扰动下的轨迹跟踪精度,建立了挖掘机电液系统非线性数学模型,设计了基于线性扩张状态观测器的滑模控制器(Sliding mode controller based on linear extended state observer,SMC-LESO)。根据铲斗油缸活塞杆位移信号,利用设计的线性扩张状态观测器对系统的速度、加速度及负载扰动和不确定因素进行估计,解决了系统参数难以测量的问题。在此基础上,设计了滑模控制器,并证明了该控制器的Lyapunov稳定性。为进一步验证该控制器的有效性,建立了挖掘机电液比例控制系统的联合仿真模型,并与PID控制器、滑模控制器的轨迹跟踪精度进行对比。仿真结果表明,该控制器可以有效抑制扰动,位移跟踪精度高、鲁棒性强。

基于实景三维的变电站温度全局检测技术研究

为满足变电站内电气设备温度快速检测的需求,利用变电站巡检机器人平台,集成3D激光雷达、可见光视频相机、红外视频相机多谱段传感器、惯性测量单元(IMU)及里程计等组合导航传感器,建立变电站全域三维坐标系和各传感器高精度空间同步,开发多源信息融合处理的软件,进行可见光视频、红外视频和三维模型的高精度快速匹配,构建变电站实景三维模型上的全局温度实时成像,实现红外传感器视野内所有对象一次性温度检测和过热设备定位。实验结果表明:该研究应用于变电站高效率巡检,特别是红外测温巡检时,统一的空间信息与红外温度信息将大大提高变电站设备温度检测效率、增强巡检机器人平台测温设备实用性,优化变电站实时和全局测温场的可视化效果。

变电站机器人智能巡检与联动控制算法的应用研究

针对传统的变电站机器人智能巡检与联动控制系统存在控制精度低和控制效率低的问题,设计变电站机器人智能巡检与联动控制算法。根据机器人控制系统设计和供电系统结构设计智能巡检与联动控制算法整体框架,通过引导线图像预处理、引导线路径分割、导航控制参数计算三个步骤,完成变电站机器人智能巡检与联动控制算法设计。实验结果表明,该算法可在较短的时间内精准地控制机器人的运行距离和运行角度,并且控制时间较短,表明该算法的控制精度高、控制效率高。

高速公路出口智能机器人系统设计

介绍一种高速公路出口智能机器人,它可完全取代人工收费,并可提供高效的异常定位和处理能力,同时具有良好的人机交互方式,可为车主提供客户服务,打造高效智能的无人收费站。该系统通过应用机器视觉识别技术、云服务技术、智能语音播报技术、智能信息识别技术、智能道闸控制与管理技术等,通过对各技术的整合并应用于主控机、机芯单元、动环系统、车辆检测单元及读写单元、配电单元等,构成了一套高效的智能高速公路出口智能机器人系统。该系统实现了对车辆的自动识别,提高了计费和支付的效率,使机动车辆通过收费站时更加方便快捷。

综采工作面三维防爆巡检机器人设计及试验

设计了一种应用于煤矿综采工作面上的防爆型巡检机器人,该机器人搭载激光雷达、惯导、车载计算机等设备。采用四驱结构,并且具有激光slam技术执行同步建图及定位功能,做到建图及定位的有机结合,并且该建图是实时的,可以用于监控。由于激光雷达的测量精度与光照无关,这对于综采工作面环境特别有优势,可以弥补视频监控在弱光条件下显示效果差、无光条件下无法使用等缺点。通过工业性试验,验证了该四驱型巡检机器人的可靠性及通过性。通过提取激光点云的特征可以求出煤壁与顶板的交线,为采煤机自动截煤提供技术支撑。

基于机器视觉和卷积神经网络的无人化智能装卸研究

利用机器人可以大批量、不间断作业的优势,设计基于机器视觉和卷积神经网络的无人化智能装卸方法。使用机器视觉系统采集无人化智能装卸机器人装卸时的图像数据,通过自适应卷积神经网络的无人化智能装卸图像识别方法获得待装卸物体,将其在图像坐标系下的坐标值运用张氏标定法转化为机器人坐标系下的坐标值,根据转化结果采用快速扩展随机树算法驱动机器人运动到坐标位置,实现待装卸物体的无人化智能装卸。实验结果表明:该方法能识别出全部待装卸物体;标定所得重投影误差值小,无人化智能装卸机器人运动路径短,并能有效避开所有障碍物,能高效、精准地装卸全部待装卸物体。

天然气公司变配电所无人值守改造的可行性研究

某油田天然气公司各站场分散在东部、中部、南部、北部地区,点多、线长、面广,配套变配电所也分布零散。随着计算机技术、监控技术网络技术的发展和电网自动化水平的不断提高,许多一次设备的质量和可靠性越来越高,不仅为变配电所无人值守创造了条件,也为减员增效提供了可靠保障。为便于无人值守变配电站能可靠安全运行,从该油田天然气公司变配电所现状入手,列出了实现无人值守的必要性,提出了运行维护管理的要求和变配电所改造建议,以达到实现无人值守变电所优化管理、减员增效、降低成本的目的。

基于京麟机器人的校园无人配送系统研究——以广州华夏职业学院为例

近年来,随着智能制造的转型升级和智慧物流的创新发展,物流机器人(包括AGV、AMR、无人叉车、拆零栋选机器人等)已成为人们日常生活和工作中的重要组成部分。然而,目前许多大型电子商务平台主要集中在无人配送车的研究上,对于校园和封闭式居民区等末端快递配送服务的细节关注较少。文章以京东智慧物流产教融合人才培养基地为背景,以京东京麟机器人为基础,对校园内如何实现无人配送进行研究。通过设计基于移动机器人的校园无人配送系统解决方案,在探索构建完整的电商-物流一体化校园生态链条。

智能巡检机器人在变电站运维工作中的应用

阐述智能巡检机器人检测方式、检测内容,检测模式可分成特殊检验、常规检验,分析变电站运维中的智能巡检机器人应用,包括室外清理、测温、一体化集控子站系统、视觉技能的应用。