| Robots operating in special areas are one of the important applications of modem robotic technology.Special area refers to the working environment with the potential danger to the personal safety and even endanger the life of the people,such as a coal mine working environment and a traffic police road duty environment.With the continuous improvement of robot control technology and the continuous improvement of robot intelligence,robot technology is expected to fundamentally change the production and operation in a special area.In order to solve the security problem in the special area,this paper analyzes the development and application of robot control and robot intelligence in detail at home and abroad.The control of robots is divided into two kinds:autonomous control and artificial control,autonomous control refers to the use of intelligent robots in accordance with the autonomy of their own control behavior;artificial control refers to the operator on-site control of the robot or through the network communication remote control robot.This paper summarizes the existing problems of the existing control methods:1.completely independent of the robot control technology is not yet mature,it needs human intervention;2.the interaction of remote control robot through the computer in traditional way is not intuitive and natural,it's inconvenient to carry and control equipment;3.the control method based on somatosensory recognition is not suitable for the complex control system.In view of these problems,this paper adopts the "intelligent + artificial" approach,makes full use of the intelligent robot's own control function,and carries out remote control to monitor and intervene to realize a robot control prototype system suitable for special area operation.In this paper,the requirement analysis of the robot control prototype system is carried out,and the system architecture and the logical structure of each functional module are defined.The system takes the intelligent robot Nao as the control object,and contains two control platforms:the Android-based mobile control platform and the Kinect-based somatosensory interactive control platform.The mobile control platform is responsible for controlling the robot's motion control,voice broadcast,state transition,addressing and sound tracking.The somatosensory interactive control platform is a supplement and upgrade to the mobile control platform,responsible for controlling the robot's real-time tracking controller's upper limb movements to fit the job requirements of the special area,and ensuring the smooth and natural interactive control.Then,the function modules of the two control platforms are realized and the control effect is analyzed and tested.It is tested that the remote intelligent interactive control platform of the special area robot in this paper has reached the design requirement and has the ability to operate for special area to a certain extent. |
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