Research On The Scout Robot And Its Key Technologies For The Underground Tunnel

The scout robot is widely used in the battlefield reconnaissance and anti-terrorism explosion proof of the military service, and in the mine disaster detection and industrial hazard detection for civil use. And it is a tendency to use the scout robots instead of the human beings to implement the dangerous and difficult tasks. As a result, the scout robots'practicality and applicability are strictly demanded.When the scout robot is placed in certain situation, like the underground tunnel, which contains both shilding and obstacles, the obstacle climbing and the communicative technology of the scout robot are the key to influence its capacity, which is heatedly discussed home and abroad. Besides, the development of the precision parts, new electronic devices and the communicative and control technology grant the scout robots more space for further development. The dissertation focuses on the scout robot and especially explores the new obstacle climbing and key communicative technology of the robot in the underground tunnel.Firstly, the paper aims at constructing a new type of scout robot by putting forward the runner composite construction as the way of obstacle climbing. With consideration to the robot's configuration difference and jumping efficency optimizer, two types of jumping robots were developed based on the spring storage theory and pneumatic theory respectively. A five-lever-spring structure was designed, and its non-linear feature was used to raise the overall non-linear-springs-single-mass model of robot. By dynamic analysis, the law of motion for the model's centre of mass at different stages was achieved. The influencing factors of the hopping height were analyzed and the results were applied into the parameter design, the simulation verification and the control of the robot. In order to overcome the problem in the spring storage structure, all the factors such as the size, weight, efficiency and cost were taken into account. The new compressed gas and the mini-sized pressure reducing valves were employed, by which the light, efficient and height-controllable spring structure was realized. After then, the pneumatic spring model was set up and analyzed theoretically. And the influencing law exerted on the spring height by each coupling parameter of the model was achieved. The researcher also advanced a controlling method to control the spring height through the closing time of the solenoid valves.The communicative technology applied in the large and the communication confined space is the base of scout robot's information perception and control system. The moving multi-motion self-organizing network with the robots as the nodes was brought forward on the basis of analysis on the particular demand of the scout robot. The information transfer of the self-organizing network and the information reception of the wireless sensor network were combined and the active sense and the collaborative communication were implemented under the lesser scope and the low hardware condition. At first, the self-network organizing robot was built based on the theory of the wireless sensor network to construct the reasonable multi-scout robot system, and the fundamental technology in the self-organizing network of the robot was analyzed detailedly. And the self-organizing network hardware platform was designed with the help of ZigBee chip CC2430. Besides, the requirement of the self-organizing network for the performance of the robot and the interface between the self-organizing network and the robot were analyzed to provide the basis for the design of the network protocol and the establishment of the scout robot.The flexibility of the robot challenges the topological control of the self-organizing network, and makes it possible to maintain the automatic route as well. The basic route function of the self-organizing network robot was explored under the basic theory and the realization flow of the ZigBee route protocol. The power optimization route establishing strategy was put forward based on the distance among the node robots and the relevant algorithm was designed and carried out. Also, the passive route maintenance system triggered by the movement of the robot was realized and the frequent maintenance energy loss which was caused by the topological change was avoided. Meanwhile, it serves as the controlling method for the active route maintainence of the robot. Thereafter, the simulation of the self-organizing network system was conducted with NS-2 network simulation software. The capacity of the network the establishment of the routes and the route maintenance algorithm were testified and it provided the simulation evidence for the rewriting of ZigBee protocolFinally, the collaborative simulation system combining the self-organizing network and the moving robot was constructed with consideration to the real environment of the underground tunnel. The performance of the controlling system structure was verified through the simulation in order to optimize the communicative strategy. Then the underground tunnel scout robot system was built up and the experimental system was set up with the two types of designed microminiature robots as the platform. After that, the experiments on the moving capability, the self-organizing network and the underground tunnel scout of the robot were carried out respectively. The results showed that the microminiature robots with the runner composite constructure enlarged the working space and improved the survivial ability of the scout robot. With the two types of jumping robots as the carriers, the self-organizing network robot which manifested the self-organizing network software and the route establishment and maintainance of the robot can realize the scout mission in the underground tunnel. It verified the validity of the scout robot designed above.