论文标题
三人生存：带有被动控制机制的崎terrain地形可转让的移动救援机器人
3-Survivor: A Rough Terrain Negotiable Teleoperated Mobile Rescue Robot with Passive Control Mechanism
论文作者
论文摘要
本文介绍了3个幸存者的设计和集成，这是一个崎terrain地的远程手工救援和服务机器人。 3幸存者是两个先前研究的名为Sigma 3和Alpha N.的先前研究的监视机器人的改进版本。在3个幸存者中，人体设计中纳入了一个经过改良的双重跟踪。体内平衡中建立的被动调整使前后身体能够以出色的同步运行。用6 DOF ARM构建了RE可配置的动态方法，而不是使用执行器。这种动态方法配置了刨床，空间机制，旋转矩阵，使用逆运动学对旋转的运动控制以及使用角动量控制操纵器的功耗。使用手持射频RF发射器远程控制机器人。 3幸存者配备了Raspberry Pi 12 MP摄像头，用于机器人操作的直播。对象检测算法在实时视频流上运行。对象检测方法是使用CNN的VGGNET16体系结构更快的RCNN构建的。机器人的整个操作通过Web控制窗口监视。因此，控制门户提供了一个简短的环境场景，以运行，控制和引导机器人以进行更精确的操作。在救援行动中，该模块获得了非常令人印象深刻的88.25％精度。与ODM一起，机器人的传感器系统还提供有关危险地形的信息。在本文中，通过不同的实验测试并提出了3个幸存者的可行性。
This paper presents the design and integration of 3 Survivor, a rough terrain negotiable teleoperated mobile rescue and service robot. 3 Survivor is an improved version of two previously studied surveillance robots named Sigma 3 and Alpha N. In 3 Survivor, a modified double tracked with caterpillar mechanism is incorporated in the body design. A passive adjustment established in the body balance enables the front and rear body to operate in excellent synchronization. Instead of using an actuator, a re configurable dynamic method is constructed with a 6 DOF arm. This dynamic method is configured with the planer, spatial mechanism, rotation matrix, motion control of rotation using inverse kinematics and controlling power consumption of the manipulator using angular momentum. The robot is remotely controlled using a handheld Radio Frequency RF transmitter. 3 Survivor is equipped with a Raspberry Pi 12 MP camera which is used for livestreaming of robot operations. Object detection algorithms are run on the live video stream. The object detection method is built using a Faster RCNN with VGGNet16 architecture of CNN. The entire operations of the robot are monitored through a web control window. Therefore, the control portal provides a brief scenario of the environment to run, control and steer the robot for more precise operation. A very impressive 88.25 percent accuracy is acquired from this module in a rescue operation. Along with the ODM, the sensor system of the robot provides information on the hazardous terrain. The feasibility of the 3 Survivor is tested and presented by different experiments throughout the paper.
