Research On Search And Rescue Robot In Dangerous Zones And Its Human-Computer Interaction System

With the continuous extention of human experience area, and the rapid growth of hazardous assignment needs, search and rescue robot (SAR), which can work in foreign and dangerous environment, has caused wide public concern. It has become a hot one in robot research fields that how SAR could fulfil the task rapidly and accurately, as well as how operator could communicatate with robots naturally and friendly. As the prerequesites of SAR’s adaptation and efficiency, the research of robot modeling, control techniques and human-computer interaction (HCI) techniques is especially important in the research of SAR’s key technolygies. Therefore, this paper takes related research of SAR’s kinematics and dynamics modeling, motion and assignment control and HCI. And on this basis, the author does a number of designing works of control system and HCI system. In order to improve the practicability of SAR, those techniques and designs are verified and analysised by experimentation in the end.Based on the mechanical structure of SAR’s mobile manipulators, the robot is deconposed into two parts, track motion platform and mobile manipulator, in the research of modeling. Motion platform’s kinematic model is built by using of D-H matrix. And its sliding control dynamics model is built basing on the friction between the road track and the ground. Those models offer well model basis to path planning and dynamics verification. Based on the actual needs of assignment, the author makes relevant simplification to the manipulator. Then, this paper builds the kinematic model of mobile manipulator. Based on the coupling of rack motion platform and mobile manipulator, dynamics model of mobile manipulator is built by using of Lagrange equation.As the key technique in the research of SAR which works in dangerous environment, the control system determines SAR’s environmental adaption and working efficiency. Therefore, the author analyzes the architecture of SAR’s control system firstly. Then based on actual demands of SAR’s assignment and the design philosophy of modularity as well as reconfiguration, this paper designs the distributed control system (DCS), which is man-comper cooperated and located in CAN bus. Meanwhile, the paper does several design works of SAR’s functional modules, which comprise the DCS.In the complecated rescue scence, a friendly HCI system is the most effective way to enhance the level of intelligence and practicability of SAR. This paper builds a hybrid HCI model, as a fusion of hierarchical control and reactive control. Based on reasonable interfering rules, this model fuses operator’s intelligence with SAR’s autonomy. In order to achieve effective remote controlling of SAR under the HCI mode, the author designs a better natural and friendly HCI interface.This paper studies a number of common key technologies of SAR working in dangerous environment. It has proved that those techniques and designs are effective by conducting related tests and field experiments. Besides, those researches will promote the practicability of dangerous oprating robot, such as detect and search robot, fire-fighting robot, explosive-handling robot and so on.