考古发掘现场智能预探测机器人系统设计-控制科学与工程专业毕业论文.docxVIP

Classified Index: TP242.6 U.D.C: 621 Dissertation for the Master Degree of Engineering DESIGN OF A ROBOTIC SYSTEM FOR ARCHAEOLOGICAL EXPLORATION Candidate: Jueyao Wang Supervisor: Dr. Xiaorui Zhu Academic Degree Applied for: Master of Engineering Specialty: Control of Science and Engineer Affiliation: Shenzhen Graduate School Date of Defence: December, 2008 Degree-Conferring-Institution: Harbin Institute of Technology 哈尔滨工业大学硕士学位论文 哈尔滨工业大学硕士学位论文 I I ABSTRACT China is a country with an ancient civilization, rich in cultural heritage, while the traditional exploration techniques in archaeology are destructive. Therefore the new techniques need to be developed to facilitate the preservation of the antiques buried underground as well as to explore the internal environment and valuable antiques of these ancient relics. At the scene of the uncertainty in the archaeological explorations, we develop an intelligent system for archaeological exploration, especially for the underground explorations in China. The system includes a robot and a remote station with a cable connecting. The whole system is modular and minimized in size that can be adapted for two different archaeological situations during the exploration of the ancient tombs. The robotic system can enter the covered ancient tombs through the digging holes prepared by the regular archaeological exploration. One size of the vertical digging hole is less than 12 centimeter in diameter, and the other is 50 centimeter in diameter. The software and hardware designs of the low-level control system were based on a microcontroller. The motion control of the pan/tilt mount for the camera, sensors data collection, luminosity adjustment, and some other drive and control functions are completed in this thesis. The archaeologists can operate on the remote station to control the robotic system with wired communication. The field test results of the different archaeological situations in Shanxi Province are finally presented for va