摘要
设计了一种基于人体手臂同步控制的智能机械车系统。该系统采用低功耗异构多处理器、多核机电系统,通过优化的游戏引擎人机交互图形控制界面,辅以可穿戴式肌电信号和手臂姿态传感器,以手势及手臂姿态无线远程控制智能车的行进、机械臂的同步伸展和机械手的抓取等动作,车载高速激光雷达系统和摄像头系统实现,在复杂未知环境下,远控机车的定位、二维和三维场景快速重构、无缝切换显示,实验结果标明,系统鲁棒性好、实时性能满足应用要求,具有较好的应用价值前景。
An intelligent mechanical vehicle system based on synchronous control of human arm is designed.This system uses a low-power heterogeneous multi-processor and multi-core electromechanical system.The system adopts low-power heterogeneous multi-processor and multi-core electromechanical system,and through optimized game engine human-computer interactive graphical control interface,supplemented by wearable EMG signal and arm attitude sensor,it can control the movement of intelligent vehicle,synchronous extension of the arm and grasping of the manipulator by gesture and arm attitude wireless remote control.As a result,the vehicle-borne high-speed lidar system and camera system are realized.In complex and unknown environment,the location of the remote control locomotive,fast reconstruction of two-dimensional and three-dimensional scene,seamless switching display are realized.The experimental results show that the system has good robustness and real-time performance,which meets the application requirements and has good application prospects.
作者
谢银波
魏天奇
田元
严志聪
陈世增
XIE Yinbo;WEI Tianqi;TIAN Yuan;YAN Zhicong;CHEN Shizeng(School of Electronic Information,Wuhan University,Wuhan 430072,China)
出处
《实验技术与管理》
CAS
北大核心
2019年第12期85-89,共5页
Experimental Technology and Management
基金
教育部产学合作协同育人项目（201601005066,201701003050）
湖北省科技支柱项目（2017AAA027）
关键词
智能机械车
肌电信号
体感控制
实时地图
机器学习
intelligent mechanical vehicle
EMG signal
somatosensory control
real-time map building
machine learning
