Research On The Key Technology For The Search-rescue-detect Robot

After the natural or human-induced disaster,the priority thing is to search for trapped survivors at the scene quickly.Due to the complex and volatile environments on post-disaster,there would have an enormous threat to rescue workers.Therefore the study of search-rescue-detect robot becomes an important research direction to replace or partially replace rescuers.At present,the study of search-rescue-detect robot is still in a preliminary stage and has not applied to a wide range of actual search and rescue missions.The main reason is subject to some conditions,including terrain adaptability,motion stability,and the perception of an unknown environment.Thus in this paper,by taking the search-rescue-detect robot system as the research object,its main characteristics and research status are analyzed.And its terrain adaptability,localization and map-building ability in an unknown environment,and some other key technologies also have been doing studied deeply.Firstly,this paper analyzes and compares the characteristics of different forms for the search-rescue-detect robots,and a two-level system by combining the variable configuration crawler type robot and the snake-like robot is proposed.In the study of the system structure,the variable configuration mechanism based on the formation principle of Oval,Orbit,the miniature snake-like mechanism with dual module and two degrees of freedom,and the folding detecting actuator based on double link transmission is also proposed.Secondly,in the study of robot's motion posture change,the robot is divided into two parts,the telescopic main boom and the auxiliary arm;moreover,the kinematic model and the equivalent deformation research of mechanism motion are established.Based on screw theory,the relationship between the variables parameters of main and auxiliary arm and the pose can be derived,providing a theoretical basis for further realizing the accurate control of robot motion pose.Thirdly,in this paper the robot's static and dynamic stability are carried out respectively,so the influence factors and the evaluation parameter for its stability are obtained.These studies offer the theory basis of robot's stability control.By established the Robot's virtual prototype model,the analyses for its deformation process based on RecurDyn software is carried out,the accuracy of the model is verified by calculation.The paper studies the robot obstacle crossing performance in corresponding terrain environment,solves the mathematical model,and calculates the parameters of the obstacle-crossing performance parameters which are verified by prototype experiment.Finally,according to the issue of simultaneous localization and map-building in the robot's probe process,by taking feature match as the key method,this issue is studied from four aspects:The Euclidean distance region segmentation based on dynamic threshold of association adjoining time,the feature line extraction based on dynamic threshold of the angle relationship,the feature line match based on motion parameters matching,and the integrated position calculation based on filtering process of least squares method and simultaneous localization and map-building.By simulation and simulated field trial the algorithm has been verified.