地震废墟搜救机器人控制系统开发与应用
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摘要
地震废墟结构复杂,对无线信号具有很强的遮蔽作用,这对采用单一通讯手段传输图像、声音和传感器信息的传统搜救机器人带来很大的障碍,采用"模拟信号+数字信号"组合通讯方式分别传输图像、声音和传感器信息、控制命令可以很好的解决这一难题。搜救机器人核心控制器采用CAN总线扩展外围设备,保证了下位机系统的稳定性,提高了控制系统的可扩展性。所搭建的试验平台完成了废墟测试,实现了图像、声音、可燃气体浓度、二氧化碳浓度、空气温湿度等信息的远距离无线采集分析,取得了良好的效果。
The earthquake ruins are so complicate that it weakens the intensity of wireless signals obviously.This makes great trouble for the traditional rescue robots which use single method to transfer video,sound and sensor information.This problem can be solved by a combinatorial communication method which uses analog signal and digital signal to transfer video,sound and sensor information,control commands separately.The core controller of the rescue robot connects peripherals by CAN bus which improves the flexibility and stability of the control system.The field experiment was completed with the test platform collecting and analyzing video,sound,combustible gases concentrations,CO2 concentrations,air temperature and humidity remotely.The result of the experiment is satisfactory.
The earthquake ruins are so complicate that it weakens the intensity of wireless signals obviously.This makes great trouble for the traditional rescue robots which use single method to transfer video,sound and sensor information.This problem can be solved by a combinatorial communication method which uses analog signal and digital signal to transfer video,sound and sensor information,control commands separately.The core controller of the rescue robot connects peripherals by CAN bus which improves the flexibility and stability of the control system.The field experiment was completed with the test platform collecting and analyzing video,sound,combustible gases concentrations,CO2 concentrations,air temperature and humidity remotely.The result of the experiment is satisfactory.
引文
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[2]董晓坡,王绪本.救援机器人的发展及其在灾害救援中的应用[J].防震减灾工程学报,2007,27(1):112-117.
[3]陈学锋,教学型移动机器人嵌入式控制开发平台设计[D].南京:南京航空航天大学,2005.
[4]左鹰,侦察机器人控制器系统的研制与开发[D].沈阳:东北大学,2004.
[5]闻明,谢周敏,非接触式人体气味检测实验研究[J].自然灾害学报,2007,16(5):121-125.
[6]闻明,谢周敏,非接触式人体气味标志化合物的定性研究[J].分析测试学报,2007,26(1):203-205.
[7]中华人民共和国行业标准,视频安防监控系统技术要求(GA/T367-2001)[S],2001.
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