矿井搜救机器人移动系统的研究与发展
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摘要
矿井搜救机器人能够代替救援人员进入复杂危险的灾后现场,并完成环境探测和搜索救援任务,对煤矿安全生产和井下搜救体系的建立具有重要意义。移动系统是井下搜救机器人的关键部件之一,其性能的好坏直接影响搜救工作能否顺利进行。对国内外矿井搜救机器人移动系统进行了概括和分类,并对其发展趋势进行探讨,以期为我国此类机器人的开发提供借鉴和启示。
Search and rescue robot for mine disaster can reach complex and dangerous disaster environments,and fulfil the search and rescue task replacing rescue workers.It is of great importance to coal mine safety and the foundation of underground search and rescue system.Locomotion system is one of the key parts of search and rescue robot.Its performance would affect search and rescue works directly.Summarization and classification on the locomotion system of search and rescue robot at home and abroad were carried out,the development trend was discussed,in order to provide references and inspirations for the development of Chinese search and rescue robot.
Search and rescue robot for mine disaster can reach complex and dangerous disaster environments,and fulfil the search and rescue task replacing rescue workers.It is of great importance to coal mine safety and the foundation of underground search and rescue system.Locomotion system is one of the key parts of search and rescue robot.Its performance would affect search and rescue works directly.Summarization and classification on the locomotion system of search and rescue robot at home and abroad were carried out,the development trend was discussed,in order to provide references and inspirations for the development of Chinese search and rescue robot.
引文
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[2]刘元.我国煤矿事故每年死者近万远超其他产煤国总数[N].中国青年报,2003-12-24.
[3]宋元明,任锦彪.煤矿井下灾害调查与研究[J].劳动保护,2005(3):86-88.
[4]李允旺,葛世荣,朱华.煤矿救灾机器人应用探讨[J].煤矿机械,2009,30(1):164-167.
[5]钱善华,葛世荣,王永胜,等.救灾机器人的研究现状与煤矿救灾的应用[J].机器人,2006,28(3):350-354.
[6]王廷军,贾瑞清,张寒松.井下矿工现代定位搜救技术与机器人搜寻[J].煤矿机械,2008,29(2):192-193.
[7]王勇,朱华,王永胜,等.煤矿救灾机器人研究现状及需要重点解决的技术问题[J].煤矿机械,2007,28(4):107-109.
[8]国家安全生产监督管理总局.2009年版煤矿安全规程[M].北京:煤炭工业出版社,2009.
[9]彭桂剑.浅谈处理瓦斯爆炸事故的技术要点和难点[J].煤矿安全,2004(11):29-30.
[10]李学来,胡敬东.煤矿应急救援技术的现状及应用现状[J].煤炭工程,2005(4):62-64.
[11]周心权,吴兵,徐景德.煤矿井下瓦斯爆炸的基本特性[J].中国煤炭,2002,28(9):8-11.
[12]赵洪广,王爱国.当前我国煤矿安全事故原因浅析[J].煤炭经济研究,2005(1):72-73.
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[18]煤矿井下探测机器人获国际制博会特别奖.地质装备,2010(6):7-8.
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[29]美国陆军正在研制的战地救护机器人BEAR[OL].ht-tp://lt.cjdby.net/thread-1019956-1-1.html
[30]CHO C,LEE W,KANG S,et al.Uneven Terrain Negotia-ble Mobile Platform with Passively Adaptive DoubleTracks and Its Application to Rescue Missions[J].Ad-vanced Robotics,2005,19(4):59-75.
[31]李允旺,葛世荣,朱华.摇杆式履带悬架的构型推衍及其在煤矿救灾机器人上的应用[J].机器人,2010,32(1):25-33.
[32]李斌.蛇形机器人的研究及在灾难救援中的应用[J].机器人技术与应用,2003(3):22-26.
[33]苏学成,樊炳辉,江浩,等.一种新型的机器人移动结构[J].机械工程学报,2003,39(4):120-123.
[34]王京.超级间谍机器苍蝇[J].机器人技术与应用,2003(3):20-22.
[2]刘元.我国煤矿事故每年死者近万远超其他产煤国总数[N].中国青年报,2003-12-24.
[3]宋元明,任锦彪.煤矿井下灾害调查与研究[J].劳动保护,2005(3):86-88.
[4]李允旺,葛世荣,朱华.煤矿救灾机器人应用探讨[J].煤矿机械,2009,30(1):164-167.
[5]钱善华,葛世荣,王永胜,等.救灾机器人的研究现状与煤矿救灾的应用[J].机器人,2006,28(3):350-354.
[6]王廷军,贾瑞清,张寒松.井下矿工现代定位搜救技术与机器人搜寻[J].煤矿机械,2008,29(2):192-193.
[7]王勇,朱华,王永胜,等.煤矿救灾机器人研究现状及需要重点解决的技术问题[J].煤矿机械,2007,28(4):107-109.
[8]国家安全生产监督管理总局.2009年版煤矿安全规程[M].北京:煤炭工业出版社,2009.
[9]彭桂剑.浅谈处理瓦斯爆炸事故的技术要点和难点[J].煤矿安全,2004(11):29-30.
[10]李学来,胡敬东.煤矿应急救援技术的现状及应用现状[J].煤炭工程,2005(4):62-64.
[11]周心权,吴兵,徐景德.煤矿井下瓦斯爆炸的基本特性[J].中国煤炭,2002,28(9):8-11.
[12]赵洪广,王爱国.当前我国煤矿安全事故原因浅析[J].煤炭经济研究,2005(1):72-73.
[13]美国海军加大魔爪机器人订购以抵消战场消耗[OL].http://www.zhjunshi.com/mil/2009-07-20/content2_2932.shtml
[14]Mine Rescue Robot[OL].http://www.msha.gov/Sago-Mine/robotdetails.asp.
[15]刘金国,王越超,李斌,等.灾难救援机器人研究现状、关键性能及展望[J].机械工程学报,2006,42(12):1-12.
[16]Rescue Robot Demonstrated for Mine Disasters[OL].ht-tp://crasar.csee.usf.edu.
[17]陈东.首台煤矿搜救机器人研制成功[OL].http://xcb.cumt.edu.cn/paper/Eedition/newsDetail.aspx?ID=3968.
[18]煤矿井下探测机器人获国际制博会特别奖.地质装备,2010(6):7-8.
[19]KLARER P R.Recent Developments in the Robotic AllTerrain Lunar Exploration Rover(RATLER)Program[C]//Proceedings of Robotics for Challenging Environ-ment,Albuquerque,New Mexico,1994:202-209.
[20]BAKER C,MORRIS A,FERGUSON D,et al.A Cam-paign in Autonomous Mine Mapping[C]//Proceedings ofthe IEEE International Conference on Robotics and Auto-mation(ICRA),New Orleans,LA,2004.
[21]7个日本地震营救机器人[J].今日科技,2011(3):54-55.
[22]BARES J E,WETTERGRENN D S.Dante II:TechnicalDescription,Results,and Lessons Learned[J].Interna-tional Journal of Robotics Research,1999,18(7):621-649.
[23]YAMAUCHI Brian.PackBot:A Versatile Platform for Mil-itary Robotics[C]//Proceedings of SPIE Conference5422:Unmanned Ground Vehicle Technology VI,Orlan-do,April 12-16,2004.
[24]李允旺.矿井救灾机器人行走机构研究[D].徐州:中国矿业大学,2010.
[25]日本:搜救机器人“木槿”复杂环境畅行无阻[OL].ht-tp://vsearch.cctv.com/play_plgs.php?-ref=CCTVNEWS_20060607_1726985.
[26]井下探测救援机器人研制成功[EB/OL].http://www.ccoalnews.com/101773/101786/121732.html.
[27]李晓鹏.煤矿探测机器人姿态控制与局部路径规划研究[D].西安:西安科技大学,2011.
[28]王争.井下探测机器人控制系统研制及其运动性能分析[D].哈尔滨:哈尔滨工业大学,2007.
[29]美国陆军正在研制的战地救护机器人BEAR[OL].ht-tp://lt.cjdby.net/thread-1019956-1-1.html
[30]CHO C,LEE W,KANG S,et al.Uneven Terrain Negotia-ble Mobile Platform with Passively Adaptive DoubleTracks and Its Application to Rescue Missions[J].Ad-vanced Robotics,2005,19(4):59-75.
[31]李允旺,葛世荣,朱华.摇杆式履带悬架的构型推衍及其在煤矿救灾机器人上的应用[J].机器人,2010,32(1):25-33.
[32]李斌.蛇形机器人的研究及在灾难救援中的应用[J].机器人技术与应用,2003(3):22-26.
[33]苏学成,樊炳辉,江浩,等.一种新型的机器人移动结构[J].机械工程学报,2003,39(4):120-123.
[34]王京.超级间谍机器苍蝇[J].机器人技术与应用,2003(3):20-22.
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