Control System Design And Implementation Of Emergency Response Ground Mobile Robot

With the development of China,the proportion of urbanization has increased year by year.The rural population has been vigorously shifting to the city.The urban population density has increased.The most typical terrain environment in the city is the building environment.Once an emergency occurs in the building environment,such as earthquakes,Fire,etc.,will seriously threaten people's lives.In this paper,aiming at the rescue mobile robot dealing with emergencies in the urban building environment,the robot's control system is designed and the robot's typical terrain can be passed.First,the main structure of the rescue mobile robot is briefly introduced.The center of gravity analysis of the rescue mobile robot is carried out,and the rod coordinate system is established according to the characteristics of the rescue mobile robot itself,and the center of gravity model is constructed to provide theoretical support for the typical terrain of the post rescue mobile robot through configuration strategies.The passage strategy of the typical terrain of the steps is divided into three stages to complete the passage of the typical terrain.Then the stability of the rescue mobile robot is studied,which is necessary for the robot to pass through typical terrain smoothly.The stable cone are introduced algorithm and introduce the equivalent description of stability interference.After completing the above research,the stability analysis of the typical terrain of the rescue mobile robot is carried out through the configuration,and the configuration of the robot is optimized for configuration strategy control.Second,design the control system of the rescue mobile robot,which is a hardware system and a software system.In the hardware system design,in order to satisfy the control of the rescue mobile robot,the robot motor selection,motor driver selection and Ether CAT network construction method are described in detail.In the software system design,introduce the characteristics of Ether CAT network communication,realize Ether CAT network communication on Ubuntu operating system,and design robot control software.Using the idea of modularization,the robot's control program is divided into functional modules,including communication modules,protocol analysis modules,driver communication modules,algorithm modules,data status information modules,etc.Finally,experimental testing.The smooth passing experiments of the virtual prototype and the physical prototype were completed respectively to verify the effectiveness of the control system proposed in this paper.