Study on the New Typed Vehicle for Disaster Rescue
-
摘要: 一款新型灾难救援车包括运动系统、双转盘系统、手臂系统、防干涉系统、重心调控系统、电量监测系统、无线遥控系统和计算机控系统等。利用半自主和操作员遥控控制,完成自主避障、半自动和自动重心调控、零半径转弯、半自主电源管理及高效的抓举、剪断、扒等功能。救援车运动系统是由前后2节共4条履带的主运动和辅助运动构成。救援车的防干涉系统是利用控制程序并结合双手臂的正、逆运动学算法求解实现防干涉。该系统即能够防5自由度的左臂和4自由度的右臂间干涉,又可防止左、右手臂与工况区之间的干涉。实验表明:该救援车运动灵活、重心控制稳定、防干涉能力强、控制可靠且救援效率高,清理效率是人工的10倍。Abstract: A new multi-function vehicle for disaster rescue is presented.The main purpose is to use this new typedvehicle for disaster rescue of the scene where the natural earthquakes, mudslides, landslides and other naturaldisasters break out, not only that, this novelty vehicle also can be used for large-scale building demolition work.The vehicle for Disaster Rescue is consisted of moving system, dual turntable system, arm system, anti-interferencesystem, gravity of regulate and control system, power-monitoring system, wire-less remote control system andcomputer control system.It can be controlled by semi-autonomous and the operator tele-operating.Also it has thefunctions of autonomous obstacle avoidance, semi-automatic and automatic of gravity regulation, pivot around, semi-autonomous power management and efficient snatch, cut and rake.The moving system is constituted by themain power movement and the auxiliary movement containing the front and rear sections a total of four crawlers.Theanti-interference system utilizes two methods, control program as well as positive movement and inverse kinematicsalgorithm, to achieve the purpose of avoiding interference.The system not only can prevent the anti-interferencebetween the five joints of left arm and four joints of right arm, also can guard against the interference between dual-arms and disaster scene.The experiments showed that the scene consists of steels, pre-cast panels, stones, dirt andother substances could be cleaned up quickly.The rescue efficiency is at last 10 times than the artificial.Throughthe test for movement of the vehicle of speed, gripping force, shear force and gravity control, it indicates that theflexibility of the rescue vehicle, the stability of the gravity, the strong ability of anti-interference, the reliablecontrol and the rescue efficiency.
-
Key words:
- computer software /
- control systems /
- dual-arms mechanism /
- experiments
-
[1] 刘金国,王越超,李斌,等.灾难救援机器人研究现状、关键性能及展望木[J].机械工程学报,2006,42(12): 1-15Liu J G,Wang Y C,Li B,et al.Current research,keyperformance and future development of search andrescue robot [J].Chinese Journal of MechanicalEngineering,2006,42(12): 1-15 (in Chinese) [2] 王宸曜,陈峰,谢连斌.一种救援机器人[P].201010217503.6,2010Wang C Y,Chen F,Xie L B.A rescue robot[P].201010217503.6,2010 (in Chinese) [3] 牛曙光,杨兰玉,李秀云,等.一种越障救援机器人[P].201120405324.5,2011Zhu S G,Yang L Y,Li X Y,et al.A rescue robot ofobstacle[P].201120405324.5,2011 (in Chinese) [4] Kucera J.iRobot develops shot sensor for packbot [J].Jane's Defence Weekly,2007,11: 639-640 [5] 徐文福,毛志刚.核电站机器人研究现状与发展趋势[J].机器人,2011,33(6): 757-768Xu W F,Mao Z G.Research status and developmenttrend of nuclear power plant robots[J].Robot,2011,33(6): 757-768 (in Chinese) [6] Voyles R,Adams J A.Editorial: security,search andrescue robotics [J].Journal of Intelligent and RoboticSystems,2011,64(1): 3-6 [7] 高学山,徐殿国,王炎,等.全方位地面清扫机器人[J].机械工程学报,2008,44(3): 228-233Gao X S,Xu D G,Wang Y,et al.Omni-direetionalmobile robot for floor cleaning[J].Chinese Journal ofMechanical Engineering,2008,44 (3): 228-233 (in Chinesee) [8] 李启月.工程机械[M].长沙: 中南大学出版社,2009Li Q Y.Engineering machinery[M].Changsha: CentralSouth University Press,2009 (in Chinese) [9] 宋小康,谈大龙,吴镇炜,等.全地形轮式移动机器人运动学建模与分析[J].机械工程学报,2008,44(6):148-157Song X K,Tan D L,Wu Z W,et al.Kinematicsmodeling and analyses of all all-terrain wheeled mobilerobots[J].Chinese Journal of Mechanical Engineering,2008,44(6): 148-157(in Chinese) [10] 黄佳怡,陈柏,胡忠文,等.一种柔索驱动太空舱外搬运机器人研究[J].机械科学与技术,2012,31(11):1748-1753Huang J Y,Chen B,Hu Z W,et al.A cable-drivenextravehicular transport robot analysis[J].MechanicalScience and Technology for Aerospace Engineering,2012,31(11): 1748-1753 (in Chinese) [11] 吴振彪,王正家.工业机器人[M].武汉: 华中科技大学出版社,2006Wu Z B,Wang Z J.Industrial robot[M].Wuhan:Huazhong University of Science and Technology Press,2006 (in Chinese) [12] 王楠,吴成东,王明辉,等.可变形灾难救援机器人控制站系统的设计与实现[J].机器人,2011,33 (1):202-209Wang N,Wu C D,Wang M H,et al.Design andimplementation of the control station system of a shapeshiftingsearch and rescue robot[J].Robot,2011,33(1): 202-209(in Chinese) [13] 黄光球,陆秋琴,李艳,等.分布式系统设计原理与应用[M].西安: 西北工业大学出版社,2008Huang G Q,Lu Q Q,Li Y,et al.Design principle andapplication of distributed system [M].Xi'an:Northwestern Polytechnical University Press,2008 (in Chinese) [14] 孟庆鑫,张忠林,王茁,等.“穿地龙”机器人的设计与综合[J].机械科学与技术,2006,25(8): 972-975Meng Q X,Zhang Z L,Wang Z,et al.Design andintegration of a robot for puncturing mud[J].MechanicalScience and Technology for Aerospace Engineerin
点击查看大图
计量
- 文章访问数: 240
- HTML全文浏览量: 20
- PDF下载量: 3
- 被引次数: 0