The Control System Of Rescue Robot With Varible Shape And Multidrive

In recent years, some kinds of disaster such as flood, earthquake, fire and typhoon have caused big damage. The complexity and fatalness of environment is beyond ability of rescue workers. In order to minimize the risks for rescuers, while increasing victim survival rates, rescue robot is a good alternative. They take the places of human who are send to the risky area for finding the victim.The paper analyzed key technologies of the rescue robot and reviewed the achievement and shortage in worldwide research about the robot,and then the paper put forward a new concept of rescue robot with alterable shape and multi-drived. The shape has the advanges of track robot and snake robot.The paper attached all importance to design and realize of control system for the rescue robot based on the mechanism structure. The system used PC104 embedded computer, which has the advantages of small size and self stacking bus connection, as the core of control system and divided the system into some independent parts, such as motion control module, data acquisition module, and so on. The paper has designed motion control system based on PC104 embedded computer to drive rescue robot. According to PC104 bus characteristic, the paper have extended a motion control card based on CPLD to control system. Data acquisition system can be divided to three parts according to functions: image acquisition and transmission module, remote control module, A/D data acquisition module. According to the control protocol, the paper has designed the software system of the robot based on USB joystick cable remote control.At last, the paper has successfully tested the practicability of the project by typical experiments. The whole control system is not only suitable for the rescue robot, but also can be transplanted to other moving robots.