一种地震搜救机器人运动结构设计研究
|
摘要
地震作为最危险的地质灾害之一,具有无法预知、破坏力大、易引发次生灾害等特点,时刻威胁着人类生命财产的安全。设计了地震搜救机器人,给出了其功能模块,研究了一种可变位的履带运动机构以提高地震搜救机器人的越障和避障能力,采用三自由度云台机构,实现摄像头的多角度拍摄。开发了机器人的控制系统。采用设计完成的地震搜救机器人进行了相关验证实验。实验结果表明该机器人初步实现了设计功能,可实现0-1000米范围内的远程控制和图像传输。进一步完善后,具有应用于地震救援的重要工程和实用价值。
As one of the geological disasters earthquake is dangerous and unpredictable,which easily caused secondary disasters,death toll and property loss.In order to rescue the survivors as soon as possible,an earthquake rescue robot is put forward.The function modules of the robot are discussed.A kind of variable location track moving structure is applied to improve obstacle-navigation and obstacle avoidance abilities of the earthquake rescue robot.A three freedom holder is used for mounting the camera CCD enlarging the robot shooting range.The control system of the earthquake robot is developed.Finally the prototype of the earthquake rescue robot is finished.The experiments are carried with different road situations by using this robot.Experimental results show that the robot meets the requirement of design and can easily remote control and transit the images and signals within the scope of 0-100 meters.After further improvement,the earthquake rescue robot could be used practically.
As one of the geological disasters earthquake is dangerous and unpredictable,which easily caused secondary disasters,death toll and property loss.In order to rescue the survivors as soon as possible,an earthquake rescue robot is put forward.The function modules of the robot are discussed.A kind of variable location track moving structure is applied to improve obstacle-navigation and obstacle avoidance abilities of the earthquake rescue robot.A three freedom holder is used for mounting the camera CCD enlarging the robot shooting range.The control system of the earthquake robot is developed.Finally the prototype of the earthquake rescue robot is finished.The experiments are carried with different road situations by using this robot.Experimental results show that the robot meets the requirement of design and can easily remote control and transit the images and signals within the scope of 0-100 meters.After further improvement,the earthquake rescue robot could be used practically.
引文
[1]郑超,赵言正,付庄.一种小型履带机器人结构设计与实现[D].上海:上海交通大学机器人研究所,2002
[2]梅红,王勇.轮式移动机器人的动力学建模及跟踪控制[J].机床与液压,2009,37(9):127-129,199
[3]黄守仁,战强,苑承志.一种履带式移动机器人的控制系统设计[J].机电产品开发与创新,2008,21(4):21-23
[4]John G,Blitch.Artificial intelligence technologiesfor robot assisted urban search and rescue[J].Expert Systems With Applications,1996,11(2):109-124
[5]Hae Kwan Jeong,Keun Ha Choi,Soo Hyun Kim.et al.Driving mode decision in the obstacle nego-tiation of a variable single-tracked robot[J].Ad-vanced Robtics.2008,12:1421-1438
[2]梅红,王勇.轮式移动机器人的动力学建模及跟踪控制[J].机床与液压,2009,37(9):127-129,199
[3]黄守仁,战强,苑承志.一种履带式移动机器人的控制系统设计[J].机电产品开发与创新,2008,21(4):21-23
[4]John G,Blitch.Artificial intelligence technologiesfor robot assisted urban search and rescue[J].Expert Systems With Applications,1996,11(2):109-124
[5]Hae Kwan Jeong,Keun Ha Choi,Soo Hyun Kim.et al.Driving mode decision in the obstacle nego-tiation of a variable single-tracked robot[J].Ad-vanced Robtics.2008,12:1421-1438
版权所有：© 2023 中国地质图书馆 中国地质调查局地学文献中心